Research on Path Planning of Mine Rescue Robots Based on Fuzzy Control

2010 ◽  
Vol 44-47 ◽  
pp. 3593-3600
Author(s):  
Yan Hua Liang ◽  
Cheng Tao Cai
Keyword(s):  
Path Planning ◽  
Fuzzy Control ◽  
Collision Avoidance ◽  
Coal Mine ◽  
Fuzzy Inference ◽  
Coal Dust ◽  
Planning Algorithm ◽  
Rescue Robots ◽  
Avoidance Problem ◽  
Mine Rescue

After a coal mine disaster, especially a gas and coal dust explosion, the space-restricted and unstructured underground terrain and explosive gas require coal mine rescue robots with good obstacle-surmounting performance. This paper tackles path-planning or collision avoidance problem. The collision avoidance problem in path planning of mobile robots was inspired from fuzzy control concept. The deduction of the path-planning algorithm is followed. Fuzzy rules and fuzzy inference based on experiences is built, it constructed a reasonable and applicable control reactive rule table. The simulation results are presented to validate the approach. And it is also proved that the control arithmetic is available in both static and dynamic obstacles in coal mine environment.

Autonomous Collision Imminent Steering Maneuver in Presence of Surrounding Obstacles

2016 ◽  
Author(s):  
Rouhollah Jafari ◽  
Shuqing Zeng ◽  
Nikolai Moshchuk
Keyword(s):  
Path Planning ◽  
Real Time ◽  
Collision Avoidance ◽  
Geometric Method ◽  
Target Vehicle ◽  
Virtual Target ◽  
Planning Algorithm ◽  
Simulation Results ◽  
Collision Avoidance System ◽  
Path Planning Algorithm

In this paper, a collision avoidance system is proposed to steer away from a leading target vehicle and other surrounding obstacles. A virtual target lane is generated based on an object map resulted from perception module. The virtual target lane is used by a path planning algorithm for an evasive steering maneuver. A geometric method which is computationally fast for real-time implementations is employed. The algorithm is tested in real-time and the simulation results suggest the effectiveness of the system in avoiding collision with not only the leading target vehicle but also other surrounding obstacles.

Explosion-Proof Design for Coal Mine Rescue Robots

2011 ◽  
Vol 211-212 ◽  
pp. 1194-1198 ◽  
Author(s):  
Yun Wang Li ◽  
Shi Rong Ge ◽  
Hua Zhu
Keyword(s):  
Coal Mine ◽  
Mobile Systems ◽  
Mine Environment ◽  
Environment Exploration ◽  
Rescue Robots ◽  
Mine Rescue ◽  
Intrinsic Safety

The explosion-proof design for coal mine robots that are used to explore environment and rescue after coal mine disaster must be adopted. In order to carry out the explosion-proof design for coal mine robots reasonably, based on the analysis of coal mine robots and their explosion-proof design, the explosion-proof types for robots are studied on. The conclusions are as follows: (1) the mixed explosion-proof design including integrated and partial explosion-proof design can be adopted in the robots design; (2) protection types for robots mainly include flameproof enclosure, pressurized enclosure, intrinsic safety, and combination of them. Based on this, the explosion-proof structures of the mobile systems of a track-type robot and a rocker-type robot for coal mine environment exploration are introduced. According to the different structure of the two robots, the concentrated and dispersed flameproof enclosures are respectively designed for the track-type robot and a rocker-type robot. This paper can provide reference for the explosion-proof design for coal mine robots.

Lightweight Design for Coal Mine Rescue Robot’s Swing Arm Brackets

2014 ◽  
Vol 496-500 ◽  
pp. 657-661
Author(s):  
Chuan Wei Wang ◽  
Hong Wei Ma
Keyword(s):  
Coal Mine ◽  
Maximum Stress ◽  
Lightweight Design ◽  
Element Model ◽  
Swing Arm ◽  
Simulating Analysis ◽  
Cutting Out ◽  
Reduce Energy Consumption ◽  
Rescue Robots ◽  
Mine Rescue

By analyzing the force of the Coal Mine Rescue Robots swing arm brackets, the maximum torques of the Coal Mine Rescue Robots swing arm brackets are calculated, the results are applied into finite element model, the maximum stress of brackets are much smaller than allowable stresses of the materials, so there is a large optimise space. Optimum design of Swing Arm Brackets are carried out by changing materials and dimensions. After simulating analysis, it can be seen that the lightweight design for out-bracket have better effect through cutting out materials rather than changing its materials. The results of this optimization may conserve materials and reduce energy consumption. And it has significant in successfully applying the robot into the coal mine underground after disasters and improving the using time of the batteries.

scholarly journals The Obstacle-Avoidance Path Planning for UAV Based on IOCAD

2020 ◽  
Vol 38 (2) ◽  
pp. 238-245
Author(s):  
Qiqian Zhang ◽  
Weiwei Xu ◽  
Honghai Zhang ◽  
Han Li
Keyword(s):  
Path Planning ◽  
Collision Avoidance ◽  
Rough Set Theory ◽  
Grid Method ◽  
Flight Path ◽  
Ray Method ◽  
Detection Model ◽  
Safety Distance ◽  
Planning Algorithm ◽  
Grid Length

To plan the path for UAV flying in the complex, dense and irregular obstacles environment, this paper proposed an obstacle collision-avoidance detection model and designed an UAV path planning algorithm based on irregular obstacles collision-avoidance detection (IOCAD), which includes irregular obstacles pretreatment method. The proposed method uses the grid method to model the environment. Rough set theory and convexity filling are used to pretreat the obstacles, and the ray method is used to select the available points. The intersection detection and the distance detection are held for the obstacle to the flight path. The objective function minimizes the distance from the obstacle to the flight path to get planned paths. The simulation results show that the proposed method can effectively plan the paths with the constraints of the assumed environment and UAV performances. It is shown that the performance of the proposed method is sensitive to the grid length and safety distance. The optimized values for the grid length and safety distance are 0.5 km and 0.4 km respectively.

Setting-Up Wireless Communication System for Mine Rescue Robots

2014 ◽  
Vol 668-669 ◽  
pp. 366-369 ◽  
Author(s):  
Xu Sheng Xue ◽  
Hong Wei Ma ◽  
Juan Wei
Keyword(s):  
Wireless Communication ◽  
Coal Mine ◽  
Communication System ◽  
Long Distance ◽  
Wireless Communication System ◽  
Underground Communication ◽  
Efficient Construction ◽  
Rescue Robots ◽  
System Breakdown ◽  
Mine Rescue

Aiming at the communication system breakdown after coal mine explosions collapses and other accidents, this paper puts forward an efficient construction method for long distance of wireless communication system in emergency with coal mind rescue robots which are self-adaptive and self-networking. With a two-level robotic system of detecting-robot and carrying-robot as the main, the carrying-robot, equipped with distributing device which contains a "roly-poly" wireless repeater, enters into an accident underground, analyzes the underground communication environment via network monitoring system, controls the distributing device and safely distributes the repeaters in order to realize secure and reliable communication with underground coal mine rescue robot. The test shows that the wireless communication system for emergency is rational, feasible, safe and reliable.

scholarly journals Coal Mine Rescue Robots Based on Binocular Vision: A Review of the State of the Art

IEEE Access ◽  
2020 ◽  
Vol 8 ◽  
pp. 130561-130575
Author(s):  
Guodong Zhai ◽  
Wentao Zhang ◽  
Wenyuan Hu ◽  
Zhendong Ji
Keyword(s):  
Binocular Vision ◽  
Coal Mine ◽  
State Of The Art ◽  
The State ◽  
Rescue Robots ◽  
Mine Rescue
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