| 仿人型煤矿环境探测机器人自主避障研究 |
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| 引用本文： | 戴珊珊,王学让. 仿人型煤矿环境探测机器人自主避障研究[J]. 煤矿机械, 2010, 31(3) |
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| 作者姓名： | 戴珊珊 王学让 |
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| 作者单位： | 1. 中国矿业大学机电学院,江苏徐州,221116;徐州建筑职业技术学院,江苏徐州,221116
2. 中国矿业大学机电学院,江苏徐州,221116 |
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| 摘 要： | 为了提高仿人型煤矿环境探测机器人的自主行走能力,在其周围布置了3个探测距离为0.1～0.8m的GP2D12型红外测距传感器对障碍物进行探测,并通过人工势场的方法实现自主避障。通过试验,得到了理想的避障效果。
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| 关 键 词： | 煤矿 环境探测 机器人 自主避障 |
Autonomous Obstacle Avoidance of Coal Mine Environment Detection Humanoid Robot |
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| DAI Shan-shan,WANG Xue-rang. Autonomous Obstacle Avoidance of Coal Mine Environment Detection Humanoid Robot[J]. Coal Mine Machinery, 2010, 31(3) |
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| Authors: | DAI Shan-shan WANG Xue-rang |
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| Affiliation: | 1.College of Electromechanial Engineering/a>;China University of Mining and Technology/a>;Xuzhou 221116/a>;China/a>;2. Xuzhou Institute of Architectural Technology/a>;China |
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| Abstract: | In order to improve the ability of coal mine environment detection humanoid robot’s autonomous walking, put three GP2D12 type large-space infrared ranging sensors whose detection distance is from 0.1m to 0.8m around it to identify obstacles and the robot realizes automatic obstacle avoidance through the method of artificial potential field. Through the test, get an ideal effect of obstacle avoidance. |
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| Keywords: | coal mine environment exploration robot autonomous obstacle avoidance |
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