Research on Simultaneous localization and Mapping Scheme of Robot in Challenging Scenarios

Abstract

Steam generator is the key equipment of nuclear power plant, and the cleanliness inspection of heat transfer tubes inside is especially important. A special-purpose evaporator inspection robot can effectively and safely inspect the heat transfer tubes. Location and mapping are of great significance to the operation of the special robot under complex steam generator conditions. Different usage scenarios are suitable for different mapping and positioning schemes. This paper introduces the scheme based on pure vision and the scheme of integrating inertial navigation unit. Compared with the scheme based on pure vision, applying the inertial measurement unit significantly increase the robustness of the V-SLAM system.