Mobile robot SLAM algorithm for transformer internal detection and location

Abstract

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.