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针对煤矿发生事故后的环境状况,研究了煤矿救援机器人的无线传感定位和路径规划问题。并利用环境参数传感器以及超声波传感器对机器人周围环境进行探测,采用改进的DV-Hop算法实现救援机器人的实时定位。从而改进了传统人工势场斥力函数,确保目标点是救援机器人的势场全局最小点,使得机器人顺利到达目标点。
Aiming at the environmental conditions after coal mine accident, this paper studies the problem of wireless sensor location and path planning of coal mine rescue robot. The environmental parameter sensor and ultrasonic sensor are used to detect the robot’s surroundings, and an improved DV-Hop algorithm is used to realize the real-time positioning of the rescue robot. Thus, the repulsion function of the traditional artificial potential field is improved to ensure that the target point is the global minimum point of the potential field of the rescue robot so that the robot can successfully reach the target point.