室内巡检机器人的定位方法

针对巡检机器人在室内环境进行巡检任务时无法准确到达指定位置的问题，提出一种基于激光雷达和里 程计的分区域定位方法。当机器人工作在定位精度要求不高的非目标区域时，采用激光雷达加里程计的定位算法进 行导航；而当机器人进入包含指定位置的目标区域时，则利用搭载在机器人上的激光测距传感器和已知位置的地标 来推算机器人的当前位姿，并根据机器人的当前误差进行位姿矫正，实现机器人在目标位置的精确定位。实验结果 表明：该定位方法的位置误差＜2 cm，偏转角误差＜1°，满足巡检机器人的定位精度要求，具备可行性和实际价值。

Positioning Method of Indoor Inspection Robot

Aiming at the problem that the inspection robot can not accurately reach the designated location when it carries out inspection tasks in indoor environment, a regional localization method based on laser radar and odometer is proposed. When the robot works in the non-target area where the positioning accuracy requirement is not high, the positioning algorithm of laser radar and odometer is used for navigation; When the robot enters the target area including the specified position, the current pose of the robot is calculated by using the laser ranging sensor carried on the robot and the landmark of the known position, and the pose is corrected according to the current error of the robot to realize the precise positioning of the robot at the target position. The experimental results show that the position error is less than 2 cm and the deflection angle error is less than 1°, which meets the positioning accuracy requirements of the inspection robot and has feasibility and practical value.