Design of a Laser Navigation System for Substation Inspection Robot Based on Map Matching

Abstract:

Aimed at the deficiency of the magnetic guide and RFID parking system used by substation inspection robot now, a laser navigation system is designed, and the system structure, the method of map building and positioning are all introduced. The system performance is tested in a 500kV substation, and the result show that the repetitive precision of navigation system is precise enough to help the robot fulfill inspection tasks.

• Periodical: Applied Mechanics and Materials (Volumes 713-715)
• Pages: 711-714
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.713-715.711
• Online since: January 2015
• Authors: Peng Xiao*, Li Xin Yu, Shao Hong Chen, Hai Peng Wang, Bin Hai Wang
• Keywords: Navigation, Robot, Substation Inspection

References

[1] Shouyin Lu, Qinglin Qian, and Bin Zhang, Development of a Mobile Robot for Substation Equipment Inspection, Automation of Electric Power Systems, vol. 30, no. 13, pp.94-98, (2006).

[2] Rui Guo, BingqiangLi, Yutian Sun, and Lei Han, A Patrol Robot for Electric Power Substation, in Proc. 2009 IEEE International Conf. on Mechatronicsand Automation, pp.55-59.

DOI: 10.1109/icma.2009.5245105

[3] Rui Guo, Peng Xiao, Lei Han, etc., GPS and DR Integration for Robot Navigation in Substation Environments, 2010 IEEE International Conference on Information and Automation, p.2009-(2012).

DOI: 10.1109/icinfa.2010.5512029

[4] Peng Xiao, Rui Guo, Yiqing Luan, etc., Design of a Laser Navigation System for Substation Inspection Robot, 2013 10th IEEE International Conference on Control and Automation, pp.739-743.

DOI: 10.1109/icca.2013.6564880

[5] K. Ohno, T. Tsubouchi, etc., Outdoor Navigation of a Mobile Robot between Buildings based on DGPS and Odometry Data Fusion, in Proc. 2003 IEEE International Conf. on Robotics and Automation, p.1978-(1984).

DOI: 10.1109/robot.2003.1241884