| 基于PC104的煤矿救灾机器人控制系统 |
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| 引用本文： | 郑之增,葛世荣,侯园园,方海峰,朱华.基于PC104的煤矿救灾机器人控制系统[J].煤矿机械,2009,30(4). |
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| 作者姓名： | 郑之增 葛世荣 侯园园 方海峰 朱华 |
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| 作者单位： | 中国矿业大学,机电工程学院,江苏,徐州,221116 |
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| 基金项目： | 国家高技术研究发展计划(863计划) |
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| 摘 要： | 结合煤矿救灾机器人的应用环境,设计了一种基于PC104的控制系统。根据系统需要完成的任务特点,确定了硬件构架和软件体系。详细分析了系统的导航与避障算法,提出了融合陀螺仪、加速度计、电子罗盘和履带轴编码器等传感信息的航位推测法和基于行为的机器人半自主控制策略。通过模拟矿井试验,验证了控制系统的合理性。
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| 关 键 词： | 煤矿救灾 机器人 控制 导航 避障 |
Control System of Coal Mine Rescue Robot Based on PC104 |
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| ZHENG Zhi-zeng,GE Shi-rong,HOU Yuan-yuan,FANG Hai-feng,ZHU Hua.Control System of Coal Mine Rescue Robot Based on PC104[J].Coal Mine Machinery,2009,30(4). |
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| Authors: | ZHENG Zhi-zeng GE Shi-rong HOU Yuan-yuan FANG Hai-feng ZHU Hua |
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| Abstract: | Based on the application circumstances of coal mine rescue robot,a control system based on PC104 is designed.The hardware structure and software architecture are determined based on features of tasks performed by the robot system.Navigation and obstacle avoidance algorithm with robot control system are analyzed in detail,a dead-reckoning based on gyroscope,accelerometer,electronic compass and angular encoders and a semi-automatic control strategy of robot based on behavior are proposed.Finally,the rationality of control system is verified by testing in air-raid shelter. |
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| Keywords: | coal mine rescue robot control navigation obstacle avoidance |
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