机器人
服务机器人
同时定位和映射
计算机科学
光学(聚焦)
障碍物
移动机器人导航
自主机器人
避障
机器人控制
导航系统
移动机器人
人工智能
实时计算
计算机视觉
光学
物理
法学
政治学
作者
Rui Meng,Bo Ji,Zheng Liu,Shouhui Liu
标识
DOI:10.1109/itaic58329.2023.10408969
摘要
In this paper, we present an inspection system for power plant environments. The system consists of two main parts: a robot system and a control platform. The control platform serves as the central hub for monitoring and controlling the robot's operations remotely. The robot system, which is the main focus of this paper, has three core components: a Mapping Subsystem, a Navigation Subsystem, and a WEB API service. The Mapping Subsystem enables Simultaneous Localization and Mapping (SLAM) capabilities, which allow the robot to construct maps and estimate its pose simultaneously. The Navigation Subsystem provides autonomous localization, navigation, and obstacle avoidance for the robot while it's moving. The WEB API service encapsulates the functions and resources of the robot system, allowing it to be controlled and monitored through the control platform. Moreover, to improve the localization accuracy of the robot during motion, we have introduced AprilTag localization and multi-sensor fusion at the robot's start-up and movement stages.
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