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Manufacturing, Control, and Performance Evaluation of a Gecko-Inspired Soft Robot

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Research on Motion Trajectory Correction Method for Wall-Climbing Robots Based on External Visual Localization

Haolei Ru^1,2, Meiping Sheng¹, Fei Gao²

¹School of Marine Science and Technology, Northwestern Polytechnical University, Xi'an 710072, China.

Sensors (Basel, Switzerland)

|February 13, 2026

Summary

This summary is machine-generated.

This study introduces an external visual localization system for wall-climbing robots, enabling precise autonomous navigation. The system corrects motion deviations, ensuring robots stay on track for safer high-altitude maintenance.

Keywords:

extended Kalman filter trajectory correction visual positioning system wall-climbing robots

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Area of Science:

Robotics
Computer Vision
Navigation Systems

Background:

High-altitude maintenance robots require autonomous navigation for efficiency and safety.
Non-uniform adhesion causes deviations, necessitating accurate robot localization.
Existing localization methods may lack precision for dynamic robot movements.

Purpose of the Study:

To develop an external visual localization system for high-altitude wall-climbing robots.
To enable precise trajectory correction and autonomous navigation.
To address motion deviations caused by adhesion inconsistencies.

Main Methods:

A pan-tilt laser tracker unit with a zoom camera tracks AprilTag markers.
A laser rangefinder provides accurate distance measurements.
Extended Kalman Filter (EKF) fuses visual and ranging data for pose estimation and prediction.
Closed-loop control signals are generated via deviation comparison for motion correction.

Main Results:

Stable localization achieved with accuracy better than 0.025 m on a 6 m × 2.5 m surface.
Robot motion deviation is maintained within 0.1 m.
The system provides reliable pose reference for precise motion control.

Conclusions:

The proposed visual localization system enhances autonomous navigation for wall-climbing robots.
High-precision localization and motion correction ensure reliable operation in complex environments.
This technology reduces manual intervention and improves operational intelligence.