| 矿井救灾机器人运动学分析及避障策略研究 |
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| 引用本文： | 王欣,邓玉娇,常俊林. 矿井救灾机器人运动学分析及避障策略研究[J]. 煤矿机械, 2013, 34(2) |
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| 作者姓名： | 王欣 邓玉娇 常俊林 |
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| 作者单位： | 中国矿业大学信电学院,江苏徐州,221116 |
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| 摘 要： | 为了在发生矿难时准确地获取井下环境信息和搜救被困人员,建立了救灾机器人的运动学模型,并在此基础上对其运动姿态进行了分析;对救灾机器人的避障策略进行了研究,并提出了一种判断转弯方向和转弯角度的策略;通过实验验证了这种转向策略的可行性,这使得救灾机器人能够在井下实现智能自主的避障,从而完成救援任务。
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| 关 键 词： | 救灾机器人 煤矿 运动学 避障 |
Kinematics Analysis and Obstacle Avoidance Strategy Research of Mine Rescue Robot |
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| Abstract: | In order to obtain underground environment information accurately and rescue siege people when coal mine disaster occurred,builds kinematics model of rescue robot,and analyses robot moving posture on this base;does some research on obstacle avoidance strategy of rescue robot,and puts forward a strategy of judging the steering directions and the steering angle;an experiment is carried out to verify feasible of steering strategy,this makes rescue robot avoid obstacle at underground intelligently and autonomously,thus finish rescue task. |
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| Keywords: | rescue robot coal mine kinematics obstacle avoidance |
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