IMU-LiDAR-safe edge multi-sensor fusion power inspection robot system

HUANG Zhengyan; CAO Xiaoman; SUN Tao

Chinese

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IMU-LiDAR-safe edge multi-sensor fusion power inspection robot system

Calculation & Test | 更新时间：2025-12-30

- IMU-LiDAR-safe edge multi-sensor fusion power inspection robot system
- Vol. 44, Issue 12, Pages: 154-158(2025)
- 作者机构：
  
  1. 广东工贸职业技术学院机电工程学院,广东,广州,510000
  2. 广东省农业人工智能重点实验室,广东,广州,510000
- 作者简介：
- 基金信息：
- DOI：
  CLC： TP212;TP242
- Published：2025
- 稿件说明：
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HUANG Zhengyan, CAO Xiaoman, SUN Tao. IMU-LiDAR-safe edge multi-sensor fusion power inspection robot system[J]. 2025, 44(12): 154-158.
DOI：

HUANG Zhengyan, CAO Xiaoman, SUN Tao. IMU-LiDAR-safe edge multi-sensor fusion power inspection robot system[J]. 2025, 44(12): 154-158. DOI：

摘要

针对机器人在电力变电站智能化巡检的准确性问题，基于机器人操作系统（ROS）提出了一套新型导航系统：首先设计搭载惯性测量单元(IMU)，激光雷达(LiDAR)，安全边缘传感器的移动底盘实验平台，采用扩展卡尔曼滤波（EKF）算法融合IMU与里程计数据；其次使用LiDAR数据进行自适应蒙特卡罗（AMCL）定位；最终，将整套系统部署于机器人实体，并开展了实地运行验证。实验结果表明，该导航系统能有效构建环境地图并实现精准自主移动，为机器人在变电站智能巡检提供了可靠的技术支撑。

Abstract

To address the accuracy challenges of robots performing intelligent inspections of power substations

a novel navigation system based on the robot operating system(ROS)is proposed.First

a mobile chassis experimental platform equipped with an IMU

LiDAR

and a safety edge sensor is designed.The extended Kalman filter(EKF)algorithm is used to fuse inertial measurement unit(IMU)and odometry data.Second

LiDAR data is used for adaptive Monte Carlo localization(AMCL)positioning.Finally

the entire system is deployed on a physical robot and validated in field operation.Experimental results demonstrate that the proposed navigation system effectively constructs environmental maps and enables precise autonomous movement

providing reliable technical support for intelligent robot inspections in substations.

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