Precision compensation of localization error in obstacle-navigation for inspection robot
文献类型：会议论文
| 作者 | Sun CL(孙翠莲); Wang HG(王洪光) ; Zhao MY(赵明扬); Ling L(凌烈)
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| 出版日期 | 2007 |
| 会议名称 | IEEE International Conference on Robotics and Biomimetics (ROBIO 2007) |
| 会议日期 | December 15-18, 2007 |
| 会议地点 | Sanya, China |
| 页码 | 213-217 |
| 中文摘要 | Research on inspection robot for 500kv 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 fines identification, which affects the accurateness of fines 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. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议主办者 | IEEE Robot & Automat Soc, Shandong Univ, Chinese Univ Hong Kong, Chiba Inst Technol, Robot Soc Japan, Soc Instrument & Control Engn, Japan Soc Mech Engn, ROBIO Fdn |
| 会议录 | 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-5
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | NEW YORK |
| 语种 | 英语 |
| ISBN号 | 978-1-4244-1761-2 |
| WOS记录号 | WOS:000257065800038 |
| 源URL | [http://ir.sia.cn/handle/173321/8831]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Sun CL,Wang HG,Zhao MY,et al. Precision compensation of localization error in obstacle-navigation for inspection robot[C]. 见:IEEE International Conference on Robotics and Biomimetics (ROBIO 2007). Sanya, China. December 15-18, 2007. |
入库方式： OAI收割
来源：沈阳自动化研究所
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