吉林大学学报(工学版) ›› 2011, Vol. 41 ›› Issue (4): 1107-1112.

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Path planning for a new mine rescue robot base on visual tangent graphs

LIU Gang, LIU Yu-bin, ZHAO Jie, ZHU Lei   

  1. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080, China
  • Received:2009-08-12 Online:2011-07-01 Published:2011-07-01

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Abstract:

A new mine rescue robot is designed in order to enhance the rescue capacity of mine rescue robot. A visual tangent graph concept is discussed for modeling unknown environment. A path planning method in unknown environment is proposed for the new mine rescue robot based on the visual tangent graph. A local optimal path guided by the global goal is searched using the “least direction deviation” heuristic functions. The simulation results demonstrate that the path planning method is feasible with better environment adaptability, which satisfy the motion requirement of the new mine rescue robot in unknown environment.

Key words: automatic control technology, path planning, visual tangent graph, mine rescue robot, tracked robot

CLC Number: 

  • TP18
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