Research On Multi-joint Snake-like Search And Rescue Robot

The rescue work in the disaster site has characteristics of complexity, risk and urgencywhich bring great difficulties to the rescuers. Rescue robots are mobile robots designed fordisaster relief. Its small size, flexibility and many other advantages make it an effective toolfor disaster rescue and cause widespread concern around the world. This research project isconcentrated on a kind of mobile robot which is able to adapt to complex terrain. It canreplace the rescue workers to enter the disaster site, build environmental map and locate itself,probe field environment and the state of trapped people, help rescue workers to complete themission.This paper describes the current research on disaster site environment and rescue robot,determines the movement of the robot program under the consideration of RoboCupRescuecompetition requirements. The design of robot joint mechanism and driver module is theemphasis of this paper. On this basis, this paper establishes a rescue robot kinematics model,and then uses D-H method to build robot forward kinematics equations and analytical methodto build robot backward kinematics equations. At last, this paper shows the work space of therobot end and the simulation of the forward and backward kinematics equations.The robot control system is the basis of robot motion. This paper makes a overall designwith the analysis of disaster site environment and the RoboCupRescue Competition rules.Then, designs the motor drive module and joint steering gear control module. At the sametime, this paper introduced the realization of robot remote control system and informationcollection system under the consideration of the special requirements of rescue robot, choosesthe sensors and designs the control interface of the robot.Mapping and positioning in an unknown environment is a key technology for rescuerobot to finish its target. This paper studies Simultaneous Localization and Mapping (SLAM),improves the data region segmentation algorithm on the basis of current algorithms anddesigns line segment matching process. Finally, this paper realized the venue experimentalverification under the requirements of RoboCupRescue contest.