变电站巡检机器人slam算法及其应用研究-检测技术与自动化装置专业论文.docxVIP

西南科技大学硕士研究生学位论文 第  PAGE 4 页 西南科技大学硕士研究生学位论文 第  PAGE 5 页 Abstract With the rise of smart grid technology and the development of mobile robots Simultaneous localization and mapping (SLAM) technology in the worldwide. Intelligent substation inspection robot has become a much-needed and priorities research for every country. The substation inspection robot existing now using track and RFID make autonomous location and navigation, have to reform environmental, weak anti-interference ability, low accuracy in location and less flexible. Threat to the safe and stable operation of the substation .In this paper, research work is carried out for mobile robot precision, high real-time autonomous positioning technology and its application in substation inspection robot with mobile robot SLAM technology and optimal estimation theory. The main research work includes the following: The analysis of the shortcomings of Mobile Robot EKF-SLAM algorithm, anti-jamming performance and relation with the sensor through theoretical analysis and simulation .For the problem that low positioning accuracy and anti-jamming performance of mobile robot EKF-SLAM algorithm, using Extended Rauch-Tung-Striebel smoother (ERTSS), combined with the covariance, which EKF-SLAM algorithm generated , to eliminate the strong noise filtering interference through recursive smoothing filter. While taking advantage of off-line estimate of ERTSS to avoiding EKF-SLAM algorithm divergence in the case of less signs . Experimental results show that the robot can effectively improve the positioning accuracy of 54.6% and immunity. Aimed at the fault that mobile robot EKF-SLAM algorithm complexity, real-time is poor, this paper use Singular Value Decomposition disintegration the covariance matrix that generated by the EKF, improved calculation formula filter gain and smooth gain of EKF-SLAM and ERTSS-SLAM algorithm. Experiments show that the improved method can effectively reduc