煤矿救援机器人的无线传感定位和路径规划方法研究

Study on wireless sensor positioning and path planning of rescue robots in collieries

针对煤矿发生事故后的环境状况,研究了煤矿救援机器人的无线传感定位和路径规划问题。并利用环境参数传感器以及超声波传感器对机器人周围环境进行探测,采用改进的DV-Hop算法实现救援机器人的实时定位。从而改进了传统人工势场斥力函数,确保目标点是救援机器人的势场全局最小点,使得机器人顺利到达目标点。

According to the environments after the accidents occurring in collieries, the paper studied the wireless sensor positioning and path planning of rescue robots in collieries. The environmental parameter sensors and ultrasonic sensors were used to detect the surroundings of the rescue robot, and improved DVoHop algorithm was applied to realize the realtime positioning of the rescue robot. In addition, the traditional function of the repulsion in artificial potential fields was improved, so as to ensure the goal was the global minimum point of the potential field, which guaranteed the rescue robot to reach the goal smoothly.