Mobile robot SLAM algorithm for transformer internal detection and location

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 工业控制网络与系统研究室

	Mobile robot SLAM algorithm for transformer internal detection and location
	Zhang, Xin 3; Li X(李勋)1; Huang RH(黄荣辉)1; Zhao YM(赵宇明)4; Guo, Tianze 2; Ceng P(曾鹏); Qu XY(曲星宇)
	2018
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
关键词	simultaneous localization and mapping (SLAM) Particle Swarm Optimization (PSO) mobile robot transformer internal fault detection
页码	251-256
通讯作者	Li X(李勋)
中文摘要	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.
收录类别	EI
产权排序	2
会议录	2018 International Conference on Electronics Technology, ICET 2018
会议录出版者	IEEE
会议录出版地	New York
语种	英语
ISBN号	978-1-5386-5752-2
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/22412]
专题	沈阳自动化研究所_工业控制网络与系统研究室
通讯作者	Qu XY(曲星宇)
作者单位	1.Shenzhen Power Supply Co. Ltd., Shenzhen, China 2.Beijing University of Posts and Telecommunications, Beijing, China 3.School of Mechanical Engineering, Shenyang University of Technology Shenyang, China 4.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
推荐引用方式 GB/T 7714	Zhang, Xin,Li X,Huang RH,et al. Mobile robot SLAM algorithm for transformer internal detection and location[C]. 见:2018 International Conference on Electronics Technology, ICET 2018. Chengdu, China. May 23-27, 2018.