Research on Intelligent Navigation and Positioning of Inspection Robot Based on SLAM

Proceedings of the 2020 2nd International Conference on Robotics, Intelligent Control and Artificial Intelligence Pub Date : 2020-10-17 DOI:10.1145/3438872.3439055

Hongrun Wang, Hongya Wang, Junyu Yi

{"title":"Research on Intelligent Navigation and Positioning of Inspection Robot Based on SLAM","authors":"Hongrun Wang, Hongya Wang, Junyu Yi","doi":"10.1145/3438872.3439055","DOIUrl":null,"url":null,"abstract":"Intelligent inspection robots can efficiently and reliably complete inspection tasks and reduce the labor intensity of staff. Accurate and stable navigation and positioning are the basis for inspection robots to perform inspection tasks. This paper studies the navigation system of the inspection robot based on lidar, which can realize the map establishment, path planning and navigation positioning of the robot in indoor and outdoor environments. On this basis, simulation experiments of mapping and navigation are carried out. In the simulation experiment, the inspection robot equipped with lidar fusion multi-faceted information can realize the construction of a map in the unknown environment through SLAM technology, and realize the navigation and positioning of the inspection robot on the basis of this map. At the same time, it has functions such as obstacle avoidance, which can satisfy the inspection the navigation needs of inspection robots when performing inspection task to ensure the smooth progress of inspection tasks.","PeriodicalId":199307,"journal":{"name":"Proceedings of the 2020 2nd International Conference on Robotics, Intelligent Control and Artificial Intelligence","volume":"113 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2020-10-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of the 2020 2nd International Conference on Robotics, Intelligent Control and Artificial Intelligence","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1145/3438872.3439055","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 2

Abstract

Intelligent inspection robots can efficiently and reliably complete inspection tasks and reduce the labor intensity of staff. Accurate and stable navigation and positioning are the basis for inspection robots to perform inspection tasks. This paper studies the navigation system of the inspection robot based on lidar, which can realize the map establishment, path planning and navigation positioning of the robot in indoor and outdoor environments. On this basis, simulation experiments of mapping and navigation are carried out. In the simulation experiment, the inspection robot equipped with lidar fusion multi-faceted information can realize the construction of a map in the unknown environment through SLAM technology, and realize the navigation and positioning of the inspection robot on the basis of this map. At the same time, it has functions such as obstacle avoidance, which can satisfy the inspection the navigation needs of inspection robots when performing inspection task to ensure the smooth progress of inspection tasks.

查看原文本刊更多论文

基于SLAM的巡检机器人智能导航定位研究

智能巡检机器人能够高效、可靠地完成巡检任务，降低工作人员的劳动强度。准确稳定的导航定位是巡检机器人执行巡检任务的基础。本文研究了基于激光雷达的巡检机器人导航系统，可以实现机器人在室内和室外环境下的地图建立、路径规划和导航定位。在此基础上，进行了测绘导航仿真实验。在仿真实验中，配备激光雷达融合多面信息的巡检机器人可以通过SLAM技术在未知环境中实现地图的构建，并在此地图的基础上实现巡检机器人的导航定位。同时具有避障等功能，可以满足巡检机器人在执行巡检任务时的巡检导航需求，保证巡检任务的顺利进行。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

求助全文

约1分钟内获得全文求助全文

来源期刊

Proceedings of the 2020 2nd International Conference on Robotics, Intelligent Control and Artificial Intelligence

自引率

0.00%

发文量