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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
Department水下机器人研究室
Conference Name2018 International Conference on Electronics Technology, ICET 2018
Conference DateMay 23-27, 2018
Conference PlaceChengdu, China
Source Publication2018 International Conference on Electronics Technology, ICET 2018
PublisherIEEE
Publication PlaceNew York
2018
Pages251-256
Indexed ByEI
EI Accession number20183105630567
Contribution Rank2
ISBN978-1-5386-5752-2
Keywordsimultaneous localization and mapping (SLAM) Particle Swarm Optimization (PSO) mobile robot transformer internal fault detection
AbstractPower 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.
Language英语
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/22351
Collection水下机器人研究室
Corresponding AuthorLi X(李勋)
Affiliation1.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
Recommended Citation
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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