Research On Rescue Robot2D Map Creation Based On Laser Range Finder

After disasters (such as earthquakes, fires, tsunamis, etc.), the actual situation is verycomplex. It is very difficult for rescue workers to carry out the work. At the same time, thedisaster site has a great risk and even endangers the lives and safety of the rescue personnel.Rescue robots can replace humans in dangerous environments to explore, search and rescuethe victims, improving the efficiency of the rescue work. The rescue robot technology is verypopular in practical field use which has drawn worldwide attention.RoboCup is a World Robot Contest which has an individual competition of rescue robot.The participating robots need to explore in the simulation environment after a disaster tosearch for victims and to establish the environment map to help rescue workers to reach thelocation of the victims faster. This work is focused on the problem aimed for rescue robot tobuild environment map. It introduces laser radar as sensors for graph algorithms, develops apractical software and hardware, establishes a map and proves that the algorithm is effectiveand reasonable. The main work of the paper is as follows:1. Design rescue robot. First it introduces two sets of mechanical scheme of RoboCuprescue robot competition, the snake-like robot programs and tracked robot program. It thenbriefly presents the design and implementation of the approach, and compares the pros andcons of the two scenarios, and finally determines the final choice of a crawler robot program.Then, after the analysis of the needs of the entire crawler robot control system, it provides thedesign of the systematic control program, and implementation of hardware and software.2．The environment perceptual system is based on the laser radar. First, the paperintroduces the operating principle of the laser radar and chooses the appropriate laser radaraccording to the characteristics of the RoboCupRescue venues and the parameters of all laserradars. Then, the paper introduces the design and implementation of the electronic controlturntable with two degrees of freedom which can ensure the laser radar to explore thenecessary environmental information (wall) in the situation that the rescue robot’s attitude isunstable. Finally, the paper introduces the theory to build graph of the environment of thelaser radars and gives the effect of the map when the sensor exists error.3. The methods to set up the environmental map based on linear features. The picture isclassified into feature extraction and feature matching. Feature extraction uses an improvedSplit-and-Merge linear feature extraction algorithm which extracts linear feature of data pointset by laser radar scanner. Feature matching is divided into two cases in accordance with the movement of the robot, steering and linear motion to achieve matching algorithm. Finally, therealization process of the construction of graph algorithms is presented and the effect of theactual construction of graph is given.4. The design of software construction. The diagram software is divided into two parts ofthe PC and the next-bit machine, the next crew is to achieve the acquisition of laser radar dataand sends them to the host computer through a wireless network. The host computer receivessensor data and performs map building program. It introduces the features andimplementation of software.