| The solution of using fuzzy control algorithm to realize mine rescue robot autonomous obstacle-avoiding is proposed, according to the characteristics and requirements of underground coal mine environmental, hardware system and software system are designed.Mine rescue robot machine system includes hardware design and software design: the hardware design is based on LPC2210, includes the ARM smallest system module, sensor module, drive motor module and communication module. The photoelectric sensors are used to measure driving wheel speed and the ultrasonic sensors are used to measure the distance between the robot and obstacles.The software design includes data acquisition, data processing, data storage and communication with PC.Under LabVIEW8.6 environment, first of all, the fuzzy control rules and fuzzy control program are designed. According to the fuzzy rules, rescue robot can perform appropriate actions, which showed good consistency. Secondly, the rescue robot monitor interface and control interface are designed. The monitor interface can real-time monitor the running state and analysis the data of movement state. Rescue robot is controlled by the program, so a cycle control system is constructed.A series of experiments of motion control system of mine rescue robot is done, and data of experiments is analyzed in the end.The research shows that the fuzzy control rules meet the requirements of mine rescue robot autonomous obstacle-avoiding because of good precision and real-time. |
PDF Full Text Request