Research Of Monitoring Navigation Method And Its Application In Surface Rescue Robot

At present, application of robot technology is increasingly spreading in all fields of society, and has received increasing attention to more and more foreign and domestic scholars. For a long time, the surface rescue has been using a traditional way, with the advancement in technology and constantly raise of civilization, the status quo of water rescue has demonstrated a very uncoordinated. Therefore, water rescue urgently needs robots' assistance to achieve fast, efficient requirements and minimize casualties and property losses. In the application of robot, path planning is the bottleneck, modeling is the foundation, and surface non-structural characteristic makes them more difficult to obtain a satisfactory solution. There are many ways of surface rescue, which are far more different from one another, even if it limited to the beach, the impacts of current water level on the boundary model of reefs and coastal must be solved. For the difficulties making by the complex surface situation, obstacles and other swimmers, quick and practical planning and monitoring methods should be found.On the basis of the discussion about the characteristics of a typical surface rescue, a overall system structure strategy is established in this paper, that is, surface surveillance, the center scheduling, rescue robot, lifeguards and other logistics personnel to be organized themselves, in order to make maximum use of their respective advantages. Based on the cyclical tidal fluctuation, 2.5D description, characteristics, knowledge application and special samples definition, under the guidance of the multi-level hierarchical strategy, the experimental system establishes the reference environment model, so that the current specific environmental characterization could be gained. Faced with a certain rescue mission, the article expounds the solution. In the rescue mission planning, firstly tasks should be decomposed, scheduled and planned, and macro task was changed into concrete sub-task sequence. Secondly, under the semantic level, making use of environment relation and connectivity net, thus, the robot passing environment blocks are obtained and the planning of environment border reference relations are achieved. Within each environment block, based on obstacles, other swimmers distribution, the experimental system uses elastic strain method to obtain qualitative reference planning of route. Finally, in accordance with the robot walking position, the experimental system gives quantitative trajectory planning.The paper discussed the feasibility of V-Graph and free space method applying to the space level path planning of surface rescue robot; and through experiments, the paper systematically analyzed their advantages, application fields and their integration possibilities. At the same time, the experimental system simulation results are showed, and the remaining shortcomings and the future research plan are pointed out.