Mobile robot SLAM algorithm for transformer internal detection and location
文献类型：会议论文
| 作者 | Zhang, Xin3; Li X(李勋)1; Huang RH(黄荣辉)1; Zhao YM(赵宇明)4; Guo, Tianze2; Ceng P(曾鹏) ; Qu XY(曲星宇)
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| 出版日期 | 2018 |
| 会议名称 | 2018 International Conference on Electronics Technology, ICET 2018 |
| 会议日期 | May 23-27, 2018 |
| 会议地点 | Chengdu, China |
| 关键词 | simultaneous localization and mapping (SLAM) Particle Swarm Optimization (PSO) mobile robot transformer internal fault detection |
| 页码 | 251-256 |
| 通讯作者 | Li X(李勋) |
| 中文摘要 | Power transformer is one of the most important equipments for the power distribution system, and it is of crucial significance to guard electricity safety. A small wireless controlled robot was developed for the internal detection of oil-immersed transformer, which improves the automation and intelligent level of oil-immersed transformer fault detection and maintenance. Conventional FastSLAM is known to degenerate over time in terms of accuracy due to the particle depletion in resampling phase. In order to achieve a precise and efficient SLAM for mobile robots in high similarity environments, a Particle Swarm Optimization (PSO) SLAM algorithm is applied to the robot. Simulations verify its effectiveness and feasibility. |
| 收录类别 | EI |
| 产权排序 | 2 |
| 会议录 | 2018 International Conference on Electronics Technology, ICET 2018
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| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISBN号 | 978-1-5386-5752-2 |
| 源URL | [http://ir.sia.cn/handle/173321/22412]  |
| 专题 | 沈阳自动化研究所_工业控制网络与系统研究室 |
| 通讯作者 | Qu XY(曲星宇) |
| 作者单位 | 1.Shenzhen Power Supply Co. Ltd., Shenzhen, China 2.Beijing University of Posts and Telecommunications, Beijing, China 3.School of Mechanical Engineering, Shenyang University of Technology Shenyang, China 4.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China |
| 推荐引用方式 GB/T 7714 | Zhang, Xin,Li X,Huang RH,et al. Mobile robot SLAM algorithm for transformer internal detection and location[C]. 见:2018 International Conference on Electronics Technology, ICET 2018. Chengdu, China. May 23-27, 2018. |
入库方式： OAI收割
来源：沈阳自动化研究所
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