基于混合滤波算法的灭火机器人设计

Design and research of the fire-extinguishing robot based on the hybrid filtering algorithms

为使两轮灭火机器人适应各类复杂的火灾环境,融合互补算法和卡尔曼算法对灭火机器人实时采集到的数据进行滤波处理,结合MATLAB软件建立姿态角计算模型,并对算法进行仿真分析,得到了静态试验数据和动态试验数据,并且对灭火机器人躲避障碍的性能进行了相关测试。研究结果表明,采用融合算法的灭火机器人姿态角能够实现较精确的控制,并较好地躲避障碍物。

In order to adapt the two-wheel fire extinguishing robot to various complex fire environments, study its working principle and its fire extinguishing process characteristics. And combine the complementary algorithm and Kalman algorithm. the real- time moral data collected by the fire extinguishing robot was filtered and processed. The algorithm was simulated and analyzed with MAT LAB software. Static test data and dynamic test data were obtained, and the performance of the fire-fighting robot to avoid obstacles was tested. The results showed that the altitude angle of fire-fighting robot using fusion algorithm can achieve more precise control and better avoid obstacles, so it can be applied to the actual fire-fighting process, and can perform various fire-fighting actions stably and accurately.