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针对煤矿井下的恶劣环境,自主研发了移动式煤矿移动机器人,机器人采用无线遥控和超声波自主避障相结合的控制模式,可以代替作业人员进入井下巷道执行任务、环境探测和灾后遇险人员的搜救。在已模块化机器人的基础上,对2个机器人进行球铰连接,通过软件调试,对机器人的跑偏进行修正,并通过实验完成了运动控制策略的优选。为多机器人合作的运动控制策略提供参考。
According to the harsh environment in coal mine, mobile coal mine mobile robot has been researched and developed independently. The robot adopts the combination of wireless remote control and ultrasonic obstacle avoidance. It can replace the operator to enter the underground tunnel to perform the task, the environment exploration and the search and rescue of the disaster victims. Based on the modularized robot, the two robots are connected by ball joints, the deviation of the robot is corrected by software debugging, and the optimization of the motion control strategy is completed through experiments. It provides a reference for multi-robot cooperative motion control strategy.