基于激光SLAM技术的电力巡检机器人交互控制

提出基于激光SLAM技术的电力巡检机器人交互控制方法,利用激光SLAM技术在地图模型、运动学模型、里程计观测模型以及多传感器观测模型的基础上绘制机器人的巡检地图,通过Dijkstra算法根据巡检地图获得最短巡检路径,并采用DWA滑动窗口法对选取的巡检路径进行评分,选择评分最高的路径作为机器人的巡检路径,完成电力巡检机器人的交互控制。实验结果表明,所提方法的避障效果好、路径规划效果好、控制精度高。

Interactive Control of Electric Power Inspection Robot Based on Laser SLAM Technology

This paper proposes an interactive control method of power detection robot based on laser SLAM technology.The robot inspection maps is drawn through the laser SLAM technology on the basis of map models , kinematics models , odometer observation models , and multi-sensor observation models.The shortest inspection path is obtained through Dijkstra algorithm according to the inspection map .Then , the DWA sliding window method is used to score the selected robot inspection path , and the optimal path is selected as the robot inspection path to complete the interactive control of the electric inspection robot.The experimental results show that the proposed method can achieve good obstacle avoidance effect and good path planning effect , and has high control accuracy.