摘要
本文提出了超声波避障,火焰识别联合静止检测的方案,能够很好的实现躲避障碍物,通过实验证明,设计的火焰识别系统系能优异。对于智能搜索的问题,目前比较经典的方案是通过绘制网格地图联合动态模板匹配的方法。由于该方案实现复杂,所以提出了一种简单易行的搜索策略,通过障碍物的随机性和超声波反射的原理设计了一种随机搜索策略。实验发现,当搜索10次以上,搜索区域的覆盖率最多能够达到95%。在人为控制的情况下,也能够实现对指定区域近乎完备的搜索。
The rescue robot is a kind of substitute,clearly,it is valuable for rescue working.In this paper,we study the problem of intelligent research of rescue robot.The environment of the place which disaster happen is very complex,the intelligent obstacle avoidance scheme is necessary.We combine utrasonic sensor obstacle avoidance,fire recognition and fire avoidance,and static checking,we get a very good effect of obstacle avoidance.Compared to the classic solution of intelligent research which combine drawing grid map and match dynamic template,this paper offer a scheme which only use the randam distribution of obstacle and the principle of the reflex of utrasonic.The experiment shows that the cover rate can reach 95%when the robot research the region 10 times.Consider artificial control,we still can research the region perfectly.
出处
《山西大同大学学报（自然科学版）》
2016年第6期27-30,35,共5页
Journal of Shanxi Datong University(Natural Science Edition)
关键词
救灾搜索机器人
随机搜索
智能避障
火焰避障
rescue search robot
search randomly
intelligent obstacle avoidance
flame obstacle avoidance
