摘要
针对目前消防机器人导航控制技术智能化和可靠性偏低的问题,研发了一种新型的消防机器人导航控制系统。操作者只需在电子地图上指定消防机器人运动的起点和终点,机器人便可对周边环境进行建图与定位、局部路径规划及跟踪,使得消防机器人可以根据周边地形的变化,实时修正自身运动,为实现消防机器人在操作人员视线以外的地形复杂地域执行任务奠定基础。
Aimed at the low reliability and intelligence of navigation and control technology of current fire fighting robot,this paper proposes a novel control and navigation system for firefighting robot,what the operator needs to do is to set the starting and terminal point on digital map,then,the robot can revise the motion according to the surrounding environment by performing the mapping and localization,path-planning and pathfollowing repeatedly.This research sets a solid basis for fire fighting robot to be able to execute tasks out of the sights of operator in the future.
作者
王子幼
胡斌
Wang Ziyou;Hu Bin(Shanghai Fire Science and Technology Research Institute of MEM,Shanghai 200032,China)
出处
《消防科学与技术》
CAS
北大核心
2022年第9期1263-1267,共5页
Fire Science and Technology
基金
国家重点研发计划项目(2017YFC0806702-7)。
关键词
导航控制
建图与定位
局部路径规划
路径跟踪
navigation and control
mapping and localization
local path-planning
path-following
