| With the development of science and technology, robotics has begun to enterpeople’s lives, and played a major role in the near future, more robots will be in humanlife. In order to promote the development of robotics research, there has been a varietyof robot competitions, fire-fighting robot competition is one of them. Firstly, theresearch background and significance of the robot technology, research status and thechallenges, problems, etc. to conduct a comprehensive description. Requirements forthe specific functions of the fire-fighting robot hardware conditions and fire-fightinggame, smart fire-fighting robot to optimize technology and achieve.The hardware side, the fire fighting robot improvement is mainly concentrated inthe acoustic sensors, obstacle avoidance sensors, infrared sensors and grayscale sensorsand other sensors. For these sensors mouth obvious role in extinguishing the principlesand practical use of the environment analysis, in order to achieve precise control ofeach sensor. The work in this area is the main parameter testing and optimization ofthese sensors in a real environment.In software design aspects of the work, the search strategy of the fire source andhome policy design and program implementation. The fire source search strategy usedto ensure the strategy is to fire-fighting robot to find the fastest source of fire, homerobot fire fighting, the fastest return to the starting point. The procedures were includedin the startup module, the search for sources of ignition module, fire-fighting module,the home module.This thesis mainly studies of fire-fighting robot intelligent optimizationtechniques improve the rapidity of the robot starting the sensitivity of the search for thefire source, fire source localization accuracy, as well as the stability of the machinerunning start, a global optimization strategy to robot fire source search strategy foroptimization and improvement of home strategy. Finally, in the realization of the abovestrategies and fine-tuning of various types of sensor parameters roar, robot fire-fightingexperiment, the standard venue and contrast and other fire-fighting thesis and parameter adjustment effectiveness. |
