Design of Electromagnetic Navigation System for Inspection Robot

Jian-jun LAN, Guo-liang FENG, Chun-lai LI

Abstract


Aiming at the steering control accuracy problem of electromagnetic navigation inspection robot, a steering control strategy based on the sensor weighted data fusion is proposed. In order to accurately calculate the steering angle of inspection robot, the eight sensors symmetrical distributed on the mechanical mechanism are used for signal detection, the deviating position between the navigation line and inspection robot is obtained after weighted data fusion, the weighted coefficient calculation process and location of steering angle relationship curve are given. This scheme is very suitable for application on the microcontroller because of the low computational complexity and easy control in program.

Keywords


Weighted data fusion, Control policy, Electromagnetic navigation, Weighting coefficient.


DOI
10.12783/dtetr/icamm2016/7390

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