Research on Fusion Navigation Method of Electrolytic Aluminum Sample Transfer Robot
Junhang Wu, Shaosheng Fan, Zhifei Wei, Xunhao Tang · 2024
In order to realize the automatic transfer task of aluminum ingot samples in an electrolytic aluminum plant, an electrolytic aluminum sample transfer robot was designed. Based on the mechanical structure of the robot, we focus on the fusion navigation method of the robot, using multi-sensor fusion laser SLAM (Simultaneous Localization And Mapping) algorithm for fusion mapping, and Scan Context algorithm for global coarse alignment, combining it with laser inertial guidance tightly-coupled odometry to get the global re-localization position, and Pure Pursuit (Pure Pursuit) algorithm for trajectory tracking, to realize the autonomous navigation. Through on-site testing, the navigation stability, positioning accuracy, and operational error all meet the operational requirements, and each unit operates normally.