Precision compensation of localization error in obstacle-navigation for inspection robot

Abstract

Research on inspection robot for 500 kv EHV power transmission lines home and abroad began with great potential applications in the electric industry. Path planning for robot to navigate obstacles based on environments perception is attempted in the present study; moreover, lines localization is the key during navigating obstacles. An analytical localization method is proposed; however, localization error is brought by perception sensors of lines identification, which affects the accurateness of lines localization precision. Precision compensation for the localization error in the kinematics model is represented with a rotation degree of freedom as the same direction as that of the localization error. The simulation and the experiments are carried out with navigating obstacles that the proposed compensation might actually provide an accurate localization precision.