Local Navigation of a Wheeled Mobile Robot as a Carrier of Equipment for Aircraft Defects Monitoring at the Parking Lot

The focus of this work is to solve the high accuracy local navigation problem for heterogeneous group of robots in the process of monitoring the surface of an aircraft (on the basis of solving this problem for a single-axle wheeled module). High accuracy of navigation and orientation solution for the single-axle wheel module is achieved through the application of well-known cloud matching and scan matching algorithms, using the recovered surface of the aircraft and additional information about the model of this surface. Local navigation solution is based on information from the inertial sensors and encoders. Integrated data processing is carried out using the Kalman filter. Simulation results of the single-axle wheeled module motion along the aircraft have confirmed the efficiency of the proposed approach to local navigation.