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。
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.
出处
《煤矿机械》
北大核心
2013年第2期69-71,共3页
Coal Mine Machinery
关键词
救灾机器人
煤矿
运动学
避障
rescue robot
coal mine
kinematics
obstacle avoidance
