变电站巡检机器人导航方法研究  

A Research of Substation Inspection Robot Navigation Method

作　　者：祖丽楠[1] 张强[1] 梁静[1] 王军龙[1] 

机构地区：[1]河北工业大学控制科学与工程学院,天津300130

出　　处：《科学技术与工程》2014年第9期198-201,共4页Science Technology and Engineering

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。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. Adaptive PID control algorithm is given , which is based on vision navigation and electro- magnetic 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.

关 键 词：巡检机器人PID控制 视觉导航 电磁导航 

分 类 号：TP241.3[自动化与计算机技术—检测技术与自动化装置]