Research on Navigation and Tracking Method for Fire Extinguishing Robots in Energy Storage Power Stations

摘要

A study was conducted on the navigation and positioning of fire extinguishing robots in energy storage power plants. Based on the analysis of the robot's motion model, the RTK satellite positioning kit was used for global positioning of the robot, with a positioning accuracy of ± 2cm. Based on the positioning data, a global map and path were constructed. To ensure that the robot can reach the target point with the shortest path, a trajectory tracking algorithm was designed using LQR optimal control, The feasibility of the algorithm was verified through MATLAB simulation. Experimental tests have shown that the navigation and trajectory tracking controller designed in this paper has the advantages of fast response and high stability, which can meet the motion control requirements of the fire extinguishing robot in energy storage power plants.