A Robot Navigation Method Based on Incremental Online Learning

Abstract

The invention discloses a robot navigation method based on incremental online learning. The robot navigation method includes: manually guiding a robot to walk in a circle in an area, allowing the robot to sample a real-time position signal to obtain the coordinate information of the robot, and storing the coordinate information when the coordinate information meets a preset condition; using the coordinate information as the input, and with the constant updating of the storage, using an incremental online learning method and a self-organizing neural network model increasing according to needs to build an area map; using the area map to perform target point positioning, and using an improved A* algorithm to plane an optimal route to a target position to complete the navigation task. The robot navigation method has the advantages that fast navigation is achieved, and the work efficiency of an inspection robot is increased greatly.

Description

technical field [0001] The invention relates to a robot navigation method based on incremental online learning, belonging to the field of robot navigation. Background technique [0002] Substation inspection robot is a kind of intelligent mobile robot, which can replace manual inspection in many cases. It can complete the inspection work of substation equipment in the extreme environment of ultra-high voltage, which not only solves the harm problem of human body working in extreme environment for a long time , but also to ensure the safe and stable operation of substation equipment. [0003] The key tasks of substation inspection robots are to achieve accurate positioning, fast path planning and navigation. There are many substation robot navigation technologies, such as magnetic track laying navigation methods, manual marker positioning methods, laser positioning and navigation methods, and so on. However, in practical applications, the flexibility of magnetic track layin...

AI Technical Summary

Problems solved by technology

However, in practical applications, the flexibility of magnetic track laying is poor, the construction is complicated, and the maintenance cost is high; the manual marking positioning method needs to draw an electronic map of the substation in advance, and the reference column must be laid in advance and the coordinates must be determined, which is too dependent on labor; The positioning and navigation method has high precision, flexibility and reliability, but it needs to set a lot of reflective signs in the station in advance, which brings a certain amount of operation and maintenance costs

Images