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The Path Planning Of Fire Robot Based On Modified Particle Swarm Optimization

Posted on:2012-01-12Degree:MasterType:Thesis
Country:ChinaCandidate:T ZhangFull Text:PDF
GTID:2178330341950020Subject:Control theory and control engineering
Abstract/Summary:PDF Full Text Request
Fire robots belongs to the special mobile robot category, can replace firefighters to approach to the scene of fire, carry out the effective firefighting, rescue task and conduct various fire reconnaissance mission. Especially, fire robots will greatly improve the ability of fire departments to put out vicious fire and play an important role in reducing heavy loss of both state property and lives. Fire robot is one of the key mobile robots, which contains artificial intelligence, information processing, image processing, wireless communications etc. and crosses computer, automation control, mechanical, electronic science and so on. At present, more and more fire robots have been applied to all kinds of dangers occasions. At the same time, the wide application of fire robots put forward the higher request for its path planning ability.The traditional mobile robots adopts dedicated processor and special operating system, which can not meet the development demand of the modern robots. With the development of embedded systems, mobile robots is moving to economization, miniaturization, intelligent and general-purpose direction.Based on the modified Particle Swarm Optimization(PSO), the path planning of fire robots is researched on the fire robots of Xi'an university of science and technology dicipline groups . The main content of this article includes:(1)the integral structure design of the fire robot is introduced. Then, the main control chip, power module, perception module, human-computer interaction and its interface connection are studied. Through placing emphasis on the power driver module and wireless communication module, the remote control and wireless communication are realized, and the programming and testing of the software program are completed for various functional modules of control system. (2)Owing to the problem of traditional particle swarm algorithm using to seek the aim easily fall in the local best, A modified Particle Swarm Optimization based on dynamic inertia weight is proposed. The new algorithm is dynamically changed based on inertia weight. In order to verify the effectiveness of the algorithm, the feasibility testing of the new algorithm is simulated by testing functions, and simulation results verify the feasibility of the new algorithm.(3)The Path Planning for fire robot is conducted using the modified particle swarm optimization algorithm. The mathematic model of the method is established and the method simulation platform is simulated, the simulation results show that the proposed method has the advantages of good path planning, which could find a relatively smooth security without collision path in more complex condition, for this, robot possesses better path planning adaptive ability.The main conclusions are summarized, and the prospect of the further research is also given in the future development trend.
Keywords/Search Tags:Fire Robots, PSO, Inertia Weight, Path Planning
PDF Full Text Request
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