Research on Navigation Control of Electric Power Inspection Robot

When the inspection robot is in the curve of the track (especially in the gentle curve section), the difference in the speed of the driving wheel will lead to related problems such as position deviation, wheel jamming and slippage. These problems will affect the stability of the robot during operation, resulting in the phenomenon of ghosting, frame loss, and repetition of the captured image. In order to solve the above problems, this paper designs a wheel-type inspection robot navigation control system based on NVIDIA high-performance processor as the main controller and STM32 as the co-controller, including fixed-point navigation and path following control. In the fixed-point navigation control, the PID algorithm is used to adjust the heading angle, and the effectiveness and robustness of the controller are verified by MATLAB simulation experiments. In the path following control, the pure tracking algorithm is adopted, and an improved adaptive forward distance pure tracking algorithm is proposed to solve the problem that the fixed forward distance in the traditional algorithm is difficult to adapt to the complex environment. The algorithm takes the speed of the robot into the calculation of the forward-looking distance, and dynamically adjusts the forward-looking distance, and the simulation results show that the algorithm has high effectiveness and feasibility.