In order to solve the localization problem in long-term and large-scale scenes in the lunar subsurface denial environment, this paper proposes an underground robot localization method combining global localization and precise local localization. In the local positioning, the ground penetrating radar is used to accurately locate the robot underground to correct the errors generated in the global positioning and ensure that the positioning of the underground robot does not diverge in a long-term, large-scale environment. Through simulation experiments, it can be found that the above method is relatively stable, can effectively reduce the positioning error of the robot, and improve the robot’s ability to perceive the position and attitude in the lunar underground environment.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Underground Robot Localization Based on Ground-Penetrating Radar


    Additional title:

    Lect. Notes Electrical Eng.


    Contributors:
    Fu, Wenxing (editor) / Gu, Mancang (editor) / Niu, Yifeng (editor) / Zhang, Kaisong (author) / Chi, Yucan (author) / Guo, Jifeng (author) / Bai, Chengchao (author)

    Conference:

    International Conference on Autonomous Unmanned Systems ; 2022 ; Xi'an, China September 23, 2022 - September 25, 2022



    Publication date :

    2023-03-10


    Size :

    12 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




    Rotary ground penetrating radar trailer for underground cable detection

    LI GUOWEI / WANG JUNBO / TANG QI et al. | European Patent Office | 2023

    Free access

    Localizing Ground-Penetrating Radar

    Cornick M. | NTIS | 2014


    Ground penetrating radar and runway surface condition evaluation method based on ground penetrating radar

    DONG JIN / XIAO PENG / HE JIANZENG et al. | European Patent Office | 2022

    Free access


    Ground penetrating radar detection vehicle

    WEI SHUAISHUAI / WANG XIUFEN / FU JIANCUN et al. | European Patent Office | 2023

    Free access