摘要
采用搭载ROS机器人操作系统的灭火机器人,利用改进粒子滤波器(RBPF)算法优化采样分布和采样次数,减小采样粒子的个数和粒子的退化率,实现灭火机器人对周围环境的二维栅格地图构建。同时在检测到火焰位置时,利用A*算法和DWA算法完成路径规划,使灭火机器人自发性地赶往火焰发生位置并进行灭火动作。实验表明:该灭火机器人在检测到火焰发生位置时,能较为良好地完成建图、定位、导航和灭火任务,满足实际需求,为智能灭火机器人提供了一种可行方案。
A fire-fighting robot equipped with the ROS robot operating system is used,and the improved RBPF algorithm is used to optimize the sampling distribution and sampling times,and reduce the number of sampling particles and the degradation of particles.It realizes the construction of a 2-dimensional grid map of the surrounding environment by the fire-fighting robot.At the same time,when the position of the flame is detected,the Aalgorithm and the DWA algorithm are used to complete the path planning,so that the fire-fighting robot rushes to the position of the fire spontaneously to carry out the fire-fighting action.Experiments show that the fire-extinguishing robot can perform mapping,positioning,navigation and fire-extinguishing tasks well when detecting the location of the fire,which meets the actual needs and provides a feasible solution for the intelligent fire-extinguishing robot.
作者
李韬
郑恩让
LI Tao;ZHENG Enrang(School of Electrical and Control Engineering,Shaanxi University of Science and Technology,Xi’an 710021,China)
出处
《实验室研究与探索》
CAS
北大核心
2023年第1期89-93,共5页
Research and Exploration In Laboratory
关键词
灭火机器人
粒子滤波器算法
地图构建
路径规划
机器人操作系统
fire fighting robot
rao-blackwellized particle filter(RBPF)algorithm
map construction
path planning
robot operating system
