Trajectory redraw of quadruped crawling robot based on improved Kalman filtering strategy for pipeline detection

As the one of new technologies, Crawling robot has been widely applied in industrial areas. However, the random interference signal has an important effect on the accuracy of the localization, which has become the primary obstruction of trajectory tracking. For the random interference signal in the data acquisition process, this paper proposes an improved Kalman filtering strategy, which will contribute to obtain accurate location data of quadruped crawling robot in the underground pipeline. The proposed filtering strategy is successfully implemented in underground detection robot system, which is independent designed and developed.