Research On Tracking Plume Method Of Mobile Robot In Air Environment

From nature part of biological chemical information by tracking the spread in the air to search for the spouse,food,avoid predators inspired,humans began to explore the robot to collocation smoke sensor module to simulate the chemical and biological chemical plume tracking behavior.It is hoped that this kind of robot can replace human beings to complete the rescue and disaster relief tasks in the environment of man-made disasters and natural disasters.In addition,with the advance of globalization,the national social security and national security are security more and more attention,so the research and development of intelligent robot can replace human life,search for contraband search and rescue tasks,it has great practical significance.At present,CPT(Chemical Plume Tracking)robot has become the focus of domestic and foreign scholars,and the relevant research institutions have made outstanding achievements.At present,when the CPT robot performs the plume tracking task in the complex and changeable environment,the complexity of the objective environment and the distribution of the plume information are more complex,so that the difficulty of plume tracking is increased.So to meet the accuracy requirements,CPT robot to complete the complicated air plume tracking task,decision-making ability,the ability of autonomous navigation need more.In this paper the robot autonomous navigation flow performance,speed control precision and the study on the three aspects of robot behavior modeling in the process of tracing plume,the research work is divided into four parts:(1)based on the CPT robot in the process of tracking flow behavior in the plume model fuzzy Petri net,and analyzes its feasibility behavior and correctness.(2)in order to improve the ability for autonomous navigation of mobile robot,to modify the traditional A* algorithm according to the actual situation of the plume tracking process,and then take the modified A* algorithm and robot sensor method combined cycle planning,to complete the whole route tracing navigation.(3)the speed control of the drive wheel motor in the plume tracking process will affect the accuracy of the CPT robot to perform the plume tracking task.Therefore,this paper chooses fuzzyRBF neural network off-line learning method to realize the speed control of the robot drive wheel motor,and achieves the actual response which has fast response speed and short adjustment time.(4)build a plume tracing robot,the AS-4WD mobile robot platform,and the smoke concentration sensor,ultrasonic sensor module collocation of chemical plume tracing robot,verify the model and method.