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Video Experimental Relacionado

Updated: Feb 14, 2026

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Investigación sobre el método de corrección de trayectoria de movimiento para robots trepadores de paredes basado en

Haolei Ru1,2, Meiping Sheng1, Fei Gao2

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

Sensors (Basel, Switzerland)
|February 13, 2026
PubMed
Resumen
Este resumen es generado por máquina.

Este estudio presenta un sistema de localización visual externo para robots trepadores de paredes, que permite una navegación autónoma precisa. El sistema corrige las desviaciones de movimiento, asegurando que los robots se mantengan en el rumbo para un mantenimiento más seguro a gran altitud.

Palabras clave:
filtro de Kalman extendidocorrección de trayectoriasistema de posicionamiento visualrobots trepadores de paredes

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Área de la Ciencia:

  • Robótica
  • Visión por Computadora
  • Sistemas de Navegación

Sus antecedentes:

  • Los robots de mantenimiento a gran altitud requieren navegación autónoma para mejorar la eficiencia y la seguridad.
  • La adhesión no uniforme provoca desviaciones, lo que requiere una localización precisa del robot.
  • Los métodos de localización existentes pueden carecer de precisión para los movimientos dinámicos del robot.

Objetivo del estudio:

  • Desarrollar un sistema de localización visual externo para robots trepadores de paredes a gran altitud.
  • Permitir la corrección precisa de la trayectoria y la navegación autónoma.
  • Abordar las desviaciones de movimiento causadas por inconsistencias en la adhesión.

Principales métodos:

  • Una unidad de rastreador láser de paneo e inclinación con una cámara con zoom rastrea marcadores AprilTag.
  • Un telémetro láser proporciona mediciones de distancia precisas.
  • El filtro de Kalman extendido (EKF) fusiona datos visuales y de rango para la estimación y predicción de la pose.
  • Se generan señales de control en bucle cerrado mediante la comparación de desviaciones para la corrección del movimiento.

Principales resultados:

  • Se logró una localización estable con una precisión inferior a 0.025 m en una superficie de 6 m × 2.5 m.
  • La desviación del movimiento del robot se mantiene dentro de 0.1 m.
  • El sistema proporciona una referencia de pose fiable para un control de movimiento preciso.

Conclusiones:

  • El sistema de localización visual propuesto mejora la navegación autónoma de los robots trepadores de paredes.
  • La localización de alta precisión y la corrección del movimiento garantizan un funcionamiento fiable en entornos complejos.
  • Esta tecnología reduce la intervención manual y mejora la inteligencia operativa.