Mobile intelligent navigation system for ship rust removal,cleaning,and wall climbing robots
In order to assist wall climbing robots in completing ship rust removal and cleaning work,a mobile intelli-gent navigation system for ship rust removal and cleaning wall climbing robots is designed,which includes two parts:a re-mote monitoring platform and a wall climbing robot.After the remote monitoring platform releases the ship's rust removal and cleaning task,the wall climbing robot perceives the ship's rust removal and cleaning environment information through a combination of multiple sensors equipped with multi line LiDAR and binocular cameras.Combined with SLAM(simultan-eous positioning and mapping)technology,the wall climbing robot completes synchronous positioning and environmental grid map construction,and based on this,Global path planning is achieved through two steps:sequential rust removal between segmented regions and path planning within segmented regions.Local obstacle avoidance path planning within the region is achieved through dynamic window algorithm,achieving intelligent navigation.The navigation results are then transmitted back to the remote monitoring platform through the mobile communication module at the application layer.The experimental results show that the system can effectively construct a grid map of the rust removal and cleaning environment,and complete full coverage path planning with high coverage.
rust removal and cleaningwall climbing robotintelligent navigationpath planningSLAM
NETL
NSTL
万方数据
