Study On The Related Problems Of Mobile Robot For Underground Tunnel And Engineering Monitoring

Along with the expansion of the scope of human activities,many related task requirements and working environment is not suitable for human to complete,this is for the development of the mobile robot technology provides a good opportunity.Related work in the field of tunnel and underground engineering is faced with a growing number of random factors,especially in the field of environmental monitoring,mobile robot system has incomparable advantage.Tunnel and underground engineering monitoring with mobile robot as the study content of this paper is mainly to solve the problems include: the motion planning problem of mobile robot system,of the tunnel and underground engineering environment of various kinds of information access,motion control problem of mobile robot systems,etc.The research of these problems is directly related to the success of mobile robot system in underground tunnel and engineering applications.For this purpose,this paper focuses on the problem of motion planning and motion control of mobile robot for underground tunnel and engineering monitoring.In this paper,a corresponding motion planning algorithm is put forward based on the kinematics and dynamic model of mobile robot.The adaptive control algorithm and robust control algorithm are proposed to solve the problem of mobile robot system model error and external disturbance.Mobile robot in order to be able to apply in the field of tunnel and underground engineering monitoring activities,first of all,to its travel mechanism can carry on the safe and orderly movement at the scene of the underground,this needs to be reasonabl e,scientific and efficient motion planning algorithm as a guarantee.Therefore,the first major study of mobile robot system in underground tunnel and engineering field is studied.In this paper,a kind of mobile robot motion planning algorithm based on sampling underground tunnel and engineering monitoring is designed to combine the long-term and short-term target demand of temporal logic.The definition of the motion planning task has two main parts:(1)the requirement of the linear temporal logic relation(LTL)static service in the known environment,and the global definition is given;(2)a local definition of a set of dynamic requirements that can be partially detected during execution.The calculation framework proposed in this section consists of two parts:(a)an off-line sampling algorithm to build a global overpower system that contains the path of the LTL formula;(b)an online sampling algorithm to generate paths to meet local needs,and colleagues can ensure that global definitions are not affected.By using reasonable,scientific and efficient motion planning algorithm of mobile robot system obtained the good the trajectory planning of underground environment,on this basis,in order to ensure that the mobile robot can be carried out in accordance with the established plan,which requires the corresponding control algorithm as a guarantee,therefore,reasonable design,scientific and efficient control algorithms become another one of this article main research content.The kinematics model of underground tunnel and engineering monitoring with mobile robot is established.Put forward a kind of tunnel and underground engineering monitoring with peak detection algorithm of mobile robot,the controller is designed based on the horizontal pendulum angular velocity tracking,when the lateral error increases,the steering controller will produce a large Angle,to make the mobile robot to converge to the desired path.The nonlinear controller proposed in this section can follow the reference path.Observe the response of the transverse acceleration and path of mobile robot to determine the optimal parameter value of controller gain.The influence of different gain values on mobile robot is discussed.The appropriate k 1 value can be selected by observing the characteristics of the controller.By choosing a small value k 1,the response of the controller is obtained slowly.However,the resulting lateral acceleration of the small value will increase the comfort level.If the fast response controller is selected,the comfort level of movable robot can be reduced.The peak detection algorithm is also introduced.The simulation results show that the algorithm can get a smoother response to mobile robot.Experimental research was conducted on the noise characteristics of IMU sensor,noisy,if the input data will be actual IMU data extraction to the controller to monitor the response of the controller,through actual IMU data of simulation and experiment,proves that the controller is stable.However,noise data can also affect the performance of the controller.Generally,it appears in the practice of the robot movement type wheel slip effect,it is a very common phenomenon,therefore,to control the mobile robot slippage effect is a very important practical problems.In this paper,the slide of mobile robot wheels is considered,and its simulation is three time-varying parameters.In this paper,the kinematics model of moving robot system includes sliding parameters,and the adaptive untrace kalman filter is designed to estimate the unknown sliding.The estimation results are introduced into a single asymptotic stable tracking controller to realize the tracking control of mobile robot motion trajectory with underground tunnel and engineering monitoring.The stability of the control algorithm is proved by lyapunov theory.In addition,the adaptive adjustment process of control parameters is studied according to pole position theory.Finally,in order to verify the effectiveness of the proposed tracking control scheme,the track tunnel and underground engineering monitoring with mobile robot kinematics model of sliding on some simulation and experimental research.In this paper,a robust tracking controller based on FDO is proposed for underground tunnel and engineering monitoring with unknown sliding and sliding influence.The disturbance observer is designed by using general approximation and fuzzy modeling.The controller in this paper,the design of control method from a specific disturbance hypothesis(disturbance the derivative of along with the time gradually decay to zero),through theoretical analysis,proved in this paper,the stability of the proposed control method,and designed a controller with a broad range of applicability.Finally,through the computer analysis found that the mobile robot actual slip and slip(disturbance)did not disappear as time goes on,this means that the disturbance derivative never to zero as time goes on.The simulation results show that the design control method in this paper ha s given the desired goal.Can draw the following conclusion,therefore,in this section,the design of controller for tunnel and underground engineering monitoring with mobile robot movement in the process of unknown sliding and slippage effect,has a degree of robustness,and show the well trajectory tracking performance.