| 变电站巡检机器人导航方法研究 |
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| 引用本文： | 祖丽楠,张强,梁静,王军龙.变电站巡检机器人导航方法研究[J].科学技术与工程,2014,14(9):204-207. |
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| 作者姓名： | 祖丽楠 张强 梁静 王军龙 |
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| 作者单位： | 河北工业大学,河北工业大学,国家电网晋城供电公司,国家电网晋城供电公司 |
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| 摘 要： | 随着移动机器人技术的发展和变电站无人值守的开展,变电站巡检机器人应运而生。稳定的导航是巡检机器人能够正常工作的前提保证,因此针对变电站巡检机器人的导航方法进行研究。影响导航的关键因素有导航方式和导航算法,变电站巡检机器人采用视觉与电磁融合的导航方式,运用自适应位置型PID控制算法,对于脱离导航线的错误处理采用模糊控制的思想,实现了巡检机器人的导航并得到了实际应用,实际运行的结果说明此种方法抗干扰能力强、收敛性好。
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| 关 键 词： | 巡检机器人 PID控制 视觉导航 电磁导航 |
| 收稿时间： | 2013/10/9 0:00:00 |
| 修稿时间： | 2013/10/24 0:00:00 |
A research of Substation Inspection Robot Navigation Method |
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| zulinan,zhangqiang,liangjing and wangjunlong.A research of Substation Inspection Robot Navigation Method[J].Science Technology and Engineering,2014,14(9):204-207. |
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| Authors: | zulinan zhangqiang liangjing and wangjunlong |
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| Institution: | Hebei University of Technology,, |
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| Abstract: | With the development of mobile robotics and unmanned substations to carry out,Substation inspection robot emerged.Stable navigation is prerequisite to ensure the normal work for inspection robot.So the navigation method of substation inspection robot is researched.The key factors affecting navigation is that the way to navigate and navigation algorithms.Giving adaptive PID control algorithm,which is based on vision navigation and electromagnetic navigation.Using fuzzy control theory for off-line navigation error.Implements inspection robot navigation and has been applied.Actual results illustrate this approach anti-interference ability, good convergence. |
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| Keywords: | Inspection robot PID control Visual navigation Electromagnetic navigation |
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