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Mobile robot SLAM algorithm for transformer internal detection and location
Li X(李勋)1; Huang RH(黄荣辉)1; Zhao YM(赵宇明)2; Zhang, Xin3; Guo, Tianze4
作者部门水下机器人研究室
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
会议录名称2018 International Conference on Electronics Technology, ICET 2018
出版者IEEE
出版地New York
2018
页码251-256
收录类别EI
EI收录号20183105630567
产权排序2
ISBN号978-1-5386-5752-2
关键词simultaneous localization and mapping (SLAM) Particle Swarm Optimization (PSO) mobile robot transformer internal fault detection
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.
语种英语
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/22351
专题水下机器人研究室
通讯作者Li X(李勋)
作者单位1.Shenzhen Power Supply Co. Ltd., Shenzhen, China
2.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
3.School of Mechanical Engineering, Shenyang University of Technology Shenyang, China
4.Beijing University of Posts and Telecommunications, Beijing, China
推荐引用方式
GB/T 7714
Li X,Huang RH,Zhao YM,et al. Mobile robot SLAM algorithm for transformer internal detection and location[C]. New York:IEEE,2018:251-256.
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