Research On Autonomous Mapping And Navigation Technology Of Coal Mine Inspection Robot

With the development of artificial intelligence research,the application of intelligent mobile robot is more extensive.Due to the complex and harsh environment of underground coal mine,people have more stringent requirements on underground coal mine inspection robot,and the autonomous mapping and navigation technology is the key to realize underground inspection task,so it is very important to study the autonomous mapping and navigation technology of underground coal mine inspection robot.Firstly,the kinematics and dynamics modeling and analysis of the inspection robot are carried out,and the odometer model,lidar observation model and depth camera observation model are established.The objects in the environment are identified by the depth camera,corner detection and edge detection are carried out on the acquired images,and then the data of lidar and depth camera are integrated to build the occupation probability raster map model,which lays a foundation for the map construction and path planning of the subsequent patrol robot.In order to solve the problems existing in the localization theory of Fast SLAM algorithm,the fusion potential field ant colony algorithm was introduced into Fast SLAM algorithm to optimize particle step by step,and the interval distribution and fusion resampling strategy was proposed.Finally,the improved ICP algorithm and APFACO-Fast SLAM algorithm were combined to obtain a new hybrid SLAM algorithm to build point cloud environment map.ROS simulation experiments were carried out to prove the superiority of the hybrid SLAM algorithm.For robot path planning,the improved artificial fish algorithm with DWA algorithm and fusion path planning algorithm is put forward,through Matlab simulation experiments prove that based on the proposed algorithm can better for autonomous navigation,the inspection robot trajectory tracking controller is designed,and through the simulation experiments prove that based on the inspection robot trajectory tracking controller can according to the motion planning path.Finally,a ROS-based simulation experiment is carried out on the inspection robot,which proves that the inspection robot based on the algorithm proposed in this paper has good ability of environment map construction and path planning.This paper has 90 pictures,7 tables and 70 references.