Research on Path Planning of Mine Rescue Robots Based on Fuzzy Control
After a coal mine disaster,especially a gas and coal dust explosion,the space-restricted and unstructured underground terrain and explosive gas require coal mine rescue robots with good obstacle-surmounting performance.This paper tackles path-planning or collision avoidance problem.The collision avoidance problem in path planning of mobile robots was inspired from fuzzy control concept.The deduction of the path-planning algorithm is followed.Fuzzy rules and fuzzy inference based on experiences is built,it constructed a reasonable and applicable control reactive rule table.The simulation results are presented to validate the approach.And it is also proved that the control arithmetic is available in both static and dynamic obstacles in coal mincenvironment.
Mine rescue robots Multi-robot system Path planning Fuzzy reasoning
Yanhua Liang Chengtao Cai
College of Electrical and Information Engineering, Heilongjiang Institute of Science and Technology, College of Automation, Harbin Engineering University, 150001, China
国际会议
重庆
英文
3593-3600
2010-12-11（万方平台首次上网日期，不代表论文的发表时间）