Research On Autonomous Obstacle Avoidance Strategy Method Of Explosive Ordnance Disposal Robot

With the rapid development of robotics,robots are pouring into all aspects of production and life.The purpose of the robot is to replace humanity with many repetitive,dangerous,unknown and specific work.The task of the explosive ordnance disposal robot is to replace the operator in the unknown environment to complete the dangerous material handling task to ensure the safety of the operator.The traditional explosive ordnance disposal robot mainly realizes its task by remote control.This paper proposes the use of mobile robot navigation and path planning method to prepare the walking before the dangerous object is processed,using visual slam technology,genetic algorithm,chaotic sequence and other methods.Research on the autonomous obstacle avoidance strategy of the explosive ordnance disposal robot.The main research contents of the thesis are as follows:Firstly,by analyzing the development status of the explosive ordnance disposal robot,the key technologies related to mobile robots and the research status of slam,the research content of the subject is established,and the visual slam is combined with the explosive ordnance disposal robot.According to the camera calibration method,the related algorithm of the front-end odometry in the visual slam,and the global and local map algorithm in the path planning,it provides a solid theoretical basis for the subsequent odometry design and the path planning of the explosive ordnance disposal robot.Secondly,analyze the task requirements of the explosive ordnance disposal robot,select the type of explosive ordnance disposal robot mobile platform,manipulator and remote control box,and calibrate the monocular camera module used by the explosive ordnance disposal robot.Obtain the camera internal and external parameter matrix through Zhang Zhengyou checkerboard calibration.Thirdly,the application of visual slam technology is explored,the feature matching algorithm is analyzed,and the orb feature matching algorithm is proposed.The simulation analysis and comparison of several algorithms are carried out to verify its feasibility.Fourthly,after the front-end framework is built,the back-end optimization work is carried out.The path planning of the explosive ordnance disposal robot combined with chaotic sequence and basic genetic algorithm is proposed.The simulation experiment is carried out to verify its feasibility.On this basis,experiments were carried out to verify the feasibility of the navigation positioning and path planning of the explosive ordnance disposal robot,and the manipulator clamping experiment was analyzed.Based on the mobile robot navigation technology,this paper studies the navigation and path planning of the explosive ordnance disposal robot,optimizes the feature matching algorithm and path planning algorithm in the visual odometry,and carries out simulation experiment verification,analyzes the simulation results,and proves that the explosive ordnance disposal robot introduces intelligence.The feasibility of the algorithm,the obstacle avoidance and grabbing experiments of the explosive ordnance disposal robot indicate the applicability of the autonomous navigation and path planning of the explosive ordnance disposal robot,which can meet the mission requirements of the explosive ordnance disposal robot.