Research On Robot Navigation For Remote Switching Of Substation

Today,with the rapid development of science and technology,substations are also ushering in intelligent and unmanned development.The intelligent development of substations requires the stable,efficient and reliable work of the robot for the operation of the switch.To make the switch operation robot more intelligent and autonomous,this paper studies the navigation technology based on Lidar combined with simultaneous localization and mapping theory(SLAM),and maps the SLAM and robot positioning among them He conducted in-depth research on the three key issues of robot navigation and obstacle avoidance,and finally used Robot Operating System(ROS)to simulate and verify the entire design study.First of all,for the navigation research of the switch-operated robot,for all the existing research programs,carefully consider and give the navigation design plan of lidar combined with SLAM.And it fully analyzes its navigation principle,and gives its conclusion of high reliability and good effect.Under the detection of lidar,the robot will form its coordinate system.This paper gives the conversion formula of the coordinate system,which converts the robot’s coordinate system into the world coordinate system,which facilitates the construction of SLAM maps.The advantages and disadvantages of the four kinds of maps constructed by SLAM are analyzed,and the grid map is selected as the navigation map for this subject.Aiming at the robot’s positioning and mapping research,first classify the robot’s positioning problem and find a breakthrough;then introduce the mathematical models of the Markov positioning algorithm and Kalman filtering positioning algorithm which are widely used at present.Subsequently,the advantages and disadvantages of the two positioning algorithms are analyzed,and an improved RBPF-SLAM positioning algorithm is given to reduce the memory footprint and save calculation time.Matlab simulation verification is performed to verify that the algorithm has a high degree of convergence and reliability.Finally,the principle of SLAM construction is introduced in detail.Aiming at the research of robot navigation and obstacle avoidance,before this topic,for the safety of the robot,the environmental information obtained by the robot was inflated to obtain a cost map.The global planning algorithm used in navigation gives the Dijkstra algorithm and the A * algorithm respectively,and uses Matlab to simulate the two algorithms to conclude that the A * algorithm is more efficient,so the robot navigation algorithm for this topic uses A * algorithm.The local planning algorithm used in the obstacle avoidance of the robot,the dynamic window method is given,the advantages and disadvantages are analyzed in detail,the improved dynamic window method is improved,and the operation speed is increased to speed up the system’s operating efficiency.,The speed of the improved dynamic window method is faster and more accurate.Taking into account the working conditions of the robot for the trip operation,supplemented by a laser sensor to fine-tune the working posture of the robot.To verify the entire navigation design plan,the ROS system was used to simulate the entire design plan.Using the simulation software,a two-wheel differential robot was first built with a universal wheel in front and a lidar at the center of the robot roof.Then use the gazebo tool in ROS to build a simulated experimental environment,and finally carry out the experiments of robot positioning and mapping and navigation obstacle avoidance.The simulation results show that the design scheme is real,reliable and operable.