矿用救援机器人系统定位方法研究  

Research on Positioning Method of Mine Rescue Robot System

作　　者：马艳梅[1] MA Yan-mei(College of Intelligent and Electrical Engineering,Huainan Institute of Vocational Technology,Huainan 232001,Anhui)

机构地区：[1]淮南职业技术学院智能与电气工程学院,安徽淮南232001

出　　处：《陇东学院学报》2023年第5期40-46,共7页Journal of Longdong University

基　　金：安徽省高校自然科学基金重点项目(KJ2021A1582);安徽省自然科学基金重点项目(KJ2017A642)。

摘　　要：机器人地图构建和地图定位是机器人自主导航技术开发的关键,对地下矿用救援机器人系统定位方法进行研究,指出地下矿业开采过程中存在地面移动、顶板下落、侧壁下落、淹没、空爆等问题,环境的动态不确定性使得移动机器人采用全局精准定位方法可靠性比较低;其次是对动态不确定地下矿井机器人导航和路径筛选问题进行研究,提出了动态不确定环境下的骨架泛化与马尔可夫过程的导航定位设计方法;最后是将提出的方法应用于实验中,验证了矿用救援机器人系统定位方法的有效性,同时指出联合机器人位姿和地图模型进行协同控制已成为新的研究方向。Robot map construction and map positioning are the keys to the development of robot autonomous navigation technology.This paper studies the positioning method of underground mining rescue robot system.Firstly,it is pointed out that there are some problems in the process of underground mining,such as ground movement,roof falling,sidewall falling,inundation,air explosion and so on.The dynamic uncertainty of the environment makes the reliability of global accurate positioning method of mobile robot relatively low.Secondly,the navigation and path selection of underground mine robot with dynamic uncertainty are studied,and the navigation and positioning design method of skeleton generalization and Markov process in dynamic uncertainty environment is proposed.Finally,the proposed method is applied to the experiment to verify the effectiveness of the positioning method of mining rescue robot system.It is pointed out that the cooperative control of robot poses and map model has become a new research direction.

关 键 词：地下矿井导航 马尔可夫过程 VORONOI图 导航定位 

分 类 号：TP243[自动化与计算机技术—检测技术与自动化装置]