Research On Path Planning And Control System Of Substation Fire Robot

With the rapid development of science and technology,the second generation of fire fighting robot relies too much on manual work when carrying out fire fighting and rescue work.The degree of intelligence is not high,and it is unable to carry out autonomous navigation and path finding.Therefore,an autonomous navigation intelligent fire fighting robot is designed to improve the efficiency of fire fighting and rescue.Firstly,the system scheme of the fire fighting robot and the simplified environment of the substation are constructed,the kinematics model of the fire fighting robot is established,and the selection of the driving motor for the horizontal and pitch direction steering control of the fire monitor is completed.Aiming at the problems of traditional A * algorithm,such as searching more useless nodes and consuming more time in path planning,this paper proposes an improved A * algorithm.Use JPS algorithm to optimize the running speed and time of A * algorithm,and reduce the memory consumption;An improved path generation strategy based on gradient descent method is proposed;The cubic B-spline interpolation algorithm is introduced to smooth the path;To verify the effectiveness of the improved A * algorithm,10 groups of square obstacles and irregular obstacles with different map scales are selected for simulation experiments.In order to realize the dynamic obstacle avoidance of fire fighting robot,the local dynamic path planning adopts the dynamic window method.Secondly,BLDC three loop control system is built in MATLAB/Simulink.Two position loop controllers are designed to control the horizontal and pitching steering of the fire monitor.By comparing the simulation results of the two control methods,it is proved that the position error of the sliding mode controller with strong robustness is smaller,and the actual position can track the given position timely and accurately,so as to achieve the goal of accurate fire fighting.Finally,the autonomous navigation experiment of fire fighting robot is carried out.The experimental results show that the improved A *algorithm can greatly reduce the time consumption and improve the efficiency of the algorithm;Using DWA algorithm,the fire robot can effectively avoid dynamic obstacles.