基于物体识别的消防侦察机器人智能行为控制系统设计

Intelligent fire detecting robot based on object recognization

提出了一种小巧、便携的移动式消防侦察机器人系统(MIRS),用于自主/半自主地执行停车场车辆车底侦察任务。其硬件结构特点一是配有三个速度和方向都可以独立控制的全向轮;二是由多处理器和多传感器阵列组成的机器人电子系统。软件方面使用新颖的参数化指令语言以实现机器人智能行为,其控制系统的核心特征是一种能够将传感器数据识别成模型库中特定模型、进而在任务执行时在线生成运动/行为控制指令参数的"物体识别系统",实现不确定环境下的适应性行为。实验结果表明,集成上述软/硬件体系的MIRS能在线识别停车场常见物体,具有不确定环境下的智能行为能力。

The omni-directional Mobile Inspecting Robot System（MIRS） is a small,man-portable mobile robotic system that can be used for autonomous or semi-autonomous inspection under vehicles in a parking area.The robot features are three omni-directional wheels which both the speed and direction of the wheel can be independently controlled and a vehicle electronic capability that includes multiple processors and a sensor array with a laser,sonar and IR sensors,and a video camera.MIRS employs a novel parameterized command language for intelligent behavior generation.A key feature of the MIRS control system is the use of an object recognition system that fits models to sensor data.These models are then used as input parameters to the motion and behavior control commands.Experiment results show that MIRS integrated with this ＂online commitment＂ strategy can recognize common objects in a parking area and behave intelligently in such uncertain environment.