摘要
煤矿发生灾难时,为了获得矿井环境信息并搜寻幸存者,设计了一种半自主式煤矿救灾机器人。它以ATmega128单片机为控制核心,利用放置无线中继模块的方法增大通信距离,采用多传感器信息融合技术及人工势场法实现精确导航和避障功能。在模拟试验中,机器人能按预定路线运动并传回传感器数据。
In order to gain the information about colliery environments and search for survivors while disaster occurs in collieries,a semi-autonomous colliery rescue robot was designed.Among which,the ATmega128 singlechip computer serving as the control core,the communication distance increased with the placement of wireless relay modules,the precise navigation and obstacle avoidance were realized by the multi-sensor information fusion technology and the method of artificial potential field.During the laboratorial test,the robot moved along the scheduled routes and transmitted back the sensors data.
出处
《矿山机械》
北大核心
2010年第16期25-28,共4页
Mining & Processing Equipment
关键词
煤矿救灾机器人
避障
人工势场
colliery rescue robot
obstacle avoidance
artificial potential field
