| Robot autonomous navigation function in power indoor emergency repair work independently plays an extremely important role in the emergency robot receives the upper release command,the destination as fast as possible under the premise of how to ensure road safety arrive at the appointed place of the homework is important and difficult in the study of emergency robot navigation.In this paper,the SLAM algorithm,global and local path planning algorithms in emergency robot navigation are studied under the background of emergency repair operations in power room.The main work of this paper is as follows:1.Research on SLAM algorithm for power room emergency robot.Firstly,the characteristics of emergency operating environment of indoor power station were analyzed,and then the Cartographer algorithm based on Cartographer optimization was derived from its subgraph construction theory,global error model and optimization theory.Finally,simulation and physical experiment were carried out to simulate the indoor environment of power station,and the experimental results verified the feasibility of Cartographer algorithm in this environment.2.Research on global path planning algorithm based on Jump Point Saerch(JPS)First elaborated the emergency operation scene to the special requirements of global path planning,and then expounds the principle of traditional JPS algorithm,and the deficiencies are analyzed,then aiming at the shortcomings of the its existence,this paper proposes a algorithm for JPS search path optimization algorithm,in order to speed up the optimization of,put forward a kind of grid map collision detection method based on the slope,Finally,the indoor power station environment is simulated and the simulation experiment is carried out,and the experimental results verify the superiority of the optimization algorithm.3.Local path planning algorithm based on Time Elastic Band(TEB).First analysis elaborated the emergency operation environment brings to the emergency robot local path planning of the new requirements,then the primary TEB algorithm is deduced,the principle of then on TEB algorithm dynamic constraint too simple question was improved,vertical dynamics model is established for an emergency robot to realize the acceleration constraints for further optimization of TEB algorithm,Finally,a physical experiment based on a laboratory car is carried out to verify the advanced of the improved algorithm.4.System experiment and analysis.Firstly,the hardware and software platforms and experimental scenarios of the emergency robot used in the experiment are introduced.Then,the SLAM algorithm,global and local path planning algorithm studied in the previous chapters are integrated based on ROS system,and the overall comprehensive navigation experiment is carried out.Experimental results show that the navigation system based on Cartographer algorithm,improved JPS algorithm and improved TEB algorithm improves the rapidness and safety of emergency robot navigation,and can meet the requirements of emergency navigation in power room. |
