Research on Navigation and Obstacle Avoidance Technology of Intelligent Inspection Robot for Underground Cable Trench

Abstract

Cable trench is one of the essential infrastructures of power system. Internal space of underground cable trench is narrow and its air environment is harsh. Manual power inspection needs to carry variety of detection tools. There are problems such as difficulty in walking and inconvenient detection. In the event of an emergency such as smoke or fire , it is easy to cause personal injury. Therefore, based on the designed double-drive-crawler type cable trench intelligent inspection robot system, a robot motion model is constructed and an intelligent robot navigation and obstacle avoidance technology for underground cable trench is proposed. It uses an improved RBPF-SLAM algorithm to locate and map the cable trench intelligent robot at the same time. Experimental results show that the robot can realize autonomous navigation and positioning in the cable trench. It not only can smoothly pass through obstacles such as PVC pipes, bricks and iron crowbars, and for higher obstacles, but also can successfully avoid obstacles. It meets the technical requirements of inspection for underground cable trench.

Keywords

• intelligent patrol inspection
• robot
• cable trench
• rbpf-slam algorithm
• navigation
• obstacle avoidance