Research on control system of a wheeled robot for fire inspection based on autonomous vision navigation
In a large oil tank farm, traditional fire monitoring often fatigues inspectors and early signs are difficult to be found out. A wheeled fire inspecting robot system is developed and its control system based on autonomous vision navigation is studied in this paper. A kinematical model is built to estimate posture error of the mobile robot. The control system could achieve road situation understanding and locate the fire warnings by image processing. The control rules are designed to guide the robots motion autonomously according to the environmental information of road detection. Experimental results show that the roads environmental detection algorithm and corresponding control strategies could meet requirements. A mobile platform is founded for flame or smoke detection in oil tank farm, and the satisfied accuracy and robustness of robot motion control could be achieved.
Wheeled mobile robot Autonomous vision navigation Image understanding Control strategy
Sun-an Wang Hongyu Di Naijian Chen
School of Mechanical engineering, Xian Jiaotong University, Xian, China
国际会议
杭州
英文
463-467
2009-04-08（万方平台首次上网日期，不代表论文的发表时间）