Localization technique of pipeline robot based on the method of acceleration<br />
Journal Title: Science Paper Online - Year 2008, Vol 3, Issue 8
Abstract
In accordance with the limitation of existing localization methods for pipeline robot used widely, a localization method by dint of acceleration is put forward with slight influence by the environment. Theoretical principles were introduced and the formula of localization (the plane tube and the declining tube) was brought forward. The analysis of the localization precision indicated that the error increased with the square of time. And the combination of the acceleration method with the photo-electrical coded compass was adopted to reduce the error, thus an improved structure flowchart for application was obtained. According to the influence of vibration noise produced by the robot’s movement, the installation position of the accelerometer was ascertained. Key words: robot；localization methods；acceleration；localization error
Authors and Affiliations
Li WANG, Zhuxin LI, Yi SHU, Jin SHI
Keywords
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