Abstract:In address the harsh inspection environment of thermal power plants and thermal pumping stations, a kind of inspection robot control system based on visual information is proposed. Based on the technology of visual simultaneous localization and mapping (VS LAM), the system integrates the point-and-line feature information to carry out autonomous positioning and map construction of inspection robot. In the successful inspection environment model, the improved RRT algorithm is used to complete the autonomous planning of inspection path. Technical university of munich (TUM) data set is used to compare with ORB_SLAM2, PL-SLAM and other systems. The results show that the improved robot positioning and mapping system with point and line features in this paper improves the positioning accuracy and efficiency in a balanced way. Using the simulation environment, the improved path planning algorithm of inspection robot is compared with various algorithm. The results show that the improved algorithm effectively reduces the length of the planned path and shortens the planning time.