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。
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 airraid shelter.
出处
《煤矿机械》
北大核心
2009年第4期119-122,共4页
Coal Mine Machinery
基金
国家863计划资助项目(2006AA04Z208)
关键词
煤矿救灾
机器人
控制
导航
避障
coal mine rescue
robot
control
navigation
obstacle avoidance
