高精度高鲁棒性的轨道机器人全局定位方法  

High-Precision and High-Robustness Global Localization for Rail Robots

作　　者：唐恒博[1] 陈卫东[1] 王景川[1] 刘帅[2] 李国波[2] 赵洪丹[2] 

机构地区：[1]上海交通大学自动化系系统控制与信息处理教育部重点实验室,上海200240 [2]吉林省电力有限公司辽源供电公司,吉林辽源136200

出　　处：《机器人》2013年第5期623-629,共7页Robot

基　　金：国际热核聚变实验堆(ITER)计划资助项目(国内研究)(2012GB102001);国家自然科学基金资助项目(60934006)

摘　　要：轨道机器人系统中,电磁干扰、温度与光照变化等环境因素会严重影响其定位的精确性和可靠性.针对上述问题,设计了一种里程计融合定位针路标的轨道机器人全局定位系统.提出了一种定位针路标的优化布置方法,通过扩大各定位区段的针分布差异度,来提高定位的鲁棒性.针对轨道打滑、定位针失效等情况进行了仿真,并在变电站巡检机器人上开展了实际应用.结果表明,本方法具有毫米级定位精度及全局定位能力,并且能够有效应对环境干扰.The localization precision and reliability of a rail robot system will be negatively influenced by environmental factors like electromagnetic interference, unstable temperature and illumination. For the problems above, a global localization system for rail robots based on the fusion of odometry and landmark pins is designed. An optimal distribution method of landmark pins is also proposed to improve localization robustness by expanding the distribution difference of landmark pins in each segment. The simulation of wheel spin and landmark pin failure, together with the application results of the substation inspection robot, indicate that the localization precision is at millimeter scale while the system is capable of global localization and can deal with environmental interference,

关 键 词：多传感器数据融合 轨道机器人 全局定位 路标 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]