基于改进RTAB-Map算法的爬壁机器人导航研究

覃超,唐东林,游东潘,丁超,饶胜,何媛媛

Research on navigation of wall-climbing robot based on improved RTAB-Map algorithm

Chao QIN,Donglin TANG,Dongpan YOU,Chao DING,Sheng RAO,Yuanyuan HE

表2 融合前后爬壁机器人航向角误差

Table 2 Yaw angle errors of wall-climbing robot before and after fusion

序号 融合前误差/(°) 融合后误差/(°) 最大值 平均值 最大值 平均值 1 13.27 6.38 2.12 0.85 2 12.75 6.03 1.80 0.68 3 13.99 8.60 0.48 0.02 4 12.75 6.06 3.37 0.60 5 13.60 7.64 3.57 1.82 6 13.07 7.00 2.18 0.56 7 13.63 6.98 2.06 0.51 8 14.42 8.79 2.55 0.53 9 13.19 6.40 3.35 1.38 10 13.92 6.43 2.02 0.85