Design Of Rescue Robot And Elementary Research On Mapping Method

For the request of the RoboCupRescue, the paper focuses on the design of the Rescue robot mechanical structure, the design of the control system and the wireless transmission system , the study of the robot mapping algorithm. A Rescue robot was built that can meet the initial requirements of RoboCupRescue.In the aspect of the design of Rescue robot mechanical structure, the Rescue robot mechanical structure was designed according to the analysis of the Rescue environment and comparing with other Rescue robot. In details,the structure includes the design of the shape size, the kinetic analysis, the selection of electromotor,the design of the track structure and other parts. These design solve the synchronous movement problem of the main track and fins, the fin's movements of ascension and descension,tension track, the space's restriction space and sustained pressure of the main track while other parts keep constant. The transmission system of wireless information was designed, which realized the remote control, the remote video and the remote wireless data transmission in Rescue environment.In the aspect of the design of control system and the wireless transmission system,the basic robot control system and control algorithm were designed and realized the robot movement control, the mixed movement control of the track and the fin, the camera desk control and the manipulator motion control. According to the rule of the RoboCupRescue,the framework of the sensor was designed. So the controller can control the Rescue robot and get map information from the comprehensive information of the Rescue robot.In the aspect of the study of robot mapping method, a mapping and self-localization algorithm was approached to comparing with other mapping method in rescue environment. Under the idea of the character matching method,the paper improve the square diagram algorithm and pick-up the useful character to match,that realized synchro orientation and mapping with certain accuracy in the environment of competition.The experiment and actual competition have verified the validity of the theoretical analysis result.The research on Rescue robot in this thesis,accumulate some experience on Rescue robots and raise the level of the development of such robots in china. With the current international situation and the trend of the development of weapons and equipment, such robots will be widely used in the military, police and civilian.