A kind of integrated navigation and control system design for substation robot based on the Kalman filtering and fuzzy algorithm

摘要

This paper aims at examining the substation's industrial environment which has a number of uncertainty factors and strong external disturbance.This paper proposes a novel design method for the integrated navigation and control system which is used in a substation intelligent robot based on the Kalman filtering and fuzzy control theory,for the purpose of fulfilling an autonomous navigation,positioning and behavior control,and finishing the unattended inspection task.In particular,a navigation subsystem based on high-precision laser radar has the functions of positioning,and that of electronic compass(for navigation angle measurement),which effectively overcomes the failure of compass in substation with strong electromagnetic interference.The field test shows that the robot's actual track is close to the assigned track,achieving the independent inspection mission in a strong electromagnetic interference environment.In addition,the design also has the advantages of lower cost,higher precision(sub-meter),and more easy implementation for industrial use.