Paper Title:
Research on Path Planning of Mine Rescue Robots Based on Fuzzy Control
  Abstract

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.

  Info
Periodical
Edited by
Ran Chen
Pages
3593-3600
DOI
10.4028/www.scientific.net/AMM.44-47.3593
Citation
Y. H. Liang, C. T. Cai, "Research on Path Planning of Mine Rescue Robots Based on Fuzzy Control", Applied Mechanics and Materials, Vols. 44-47, pp. 3593-3600, 2011
Online since
December 2010
Export
Price
$32.00
Share

In order to see related information, you need to Login.

In order to see related information, you need to Login.

Authors: Qing Zhu Cui, Xun Li, Xiang Ke Wang, Meng Zhang
Chapter 1: Mechatronic Devices and Systems
Abstract:The dynamical model of an omni-directional mobile robot is bulit based on the Newtonian mechanics. Correspondingly, a backstepping-based...
51
Authors: Chun Tao Leng, Jian Jun Du, Qi Xin Cao, Xiao Xiao Zhu, Zhen Huang
Chapter 4: Control and Automation, Applications of Tracking and Information Technologies
Abstract:In order to work in the narrow work space and achieve global localization, an omnidirectional AGV(Automatic Guided Vehicle) is developed....
746
Authors: Zhen Qing Gao, Hong Bin Chen, Yan Ping Du, Li Wei
Chapter 2: Mechatronics, Automation and Control, Intelligent Algorithms for Automation and Control
Abstract:In view of the common oriented logistics robot is difficult to adapt to the complex and changeable requirements of modern logistics...
1006
Authors: Guan Jun Meng, Zu Tao Zhang, Hong Xu
Chapter 4: Applied Mechanic, Mechanical Engineering, Automation and Control
Abstract:This paper presents a novel Omni-directional obstacle crossing robot with a combination of passive and active obstacle crossing mode which...
710