Automatic obstacle avoidance algorithm of fire extinguishing robot

Abstract

The invention discloses an automatic obstacle avoidance algorithm of a fire extinguishing robot. According to the technical scheme, the automatic obstacle avoidance algorithm is characterized by comprising the steps that position information of an obstacle relative to the fire extinguishing robot in a field environment is collected by arranging a sensor, and the input quantity obstacle distance D of the obstacle avoidance algorithm is obtained; the obstacle distance D and the left and right wheel speed values of the fire extinguishing robot are fuzzified, the input obstacle distance and the left and right wheel speed values of the fire extinguishing robot are converted into fuzzy language values, and fuzzy language value variables represent fuzzy subsets in a specific domain. The obstacle avoidance method of the automatic obstacle avoidance algorithm of the fire fighting robot adopts fuzzy description to complete behavior coding of the distance of an obstacle relative to the fire fighting robot and the speed of left and right wheels of the fire fighting robot, and meanwhile, self-learning, nonlinear approximation and self-adaption technologies of an RBF neural network are fully utilized; obstacle avoidance rules in an unknown environment are realized through information input of a sensor and internal fuzzy neural network environment modeling.

Description

technical field [0001] The invention belongs to the fields of robots, artificial intelligence, etc., and in particular relates to an automatic obstacle avoidance algorithm of a fire extinguishing robot. Background technique [0002] With the development and progress of society, all kinds of modern electrical equipment appear in our life. Therefore, fires have become more and more frequent in our lives, and the work of firefighters has become more and more difficult. The disaster scene is full of various dangers, which will pose an extremely serious threat to the personal safety of firefighters. Therefore, the research on fire-fighting robots has very important research value for social security. It not only reduces the risk index of fire-fighting and rescue operations, but also effectively Avoid or reduce the casualties of personnel, and speed up the speed of fire extinguishing and improve efficiency, which brings security to social property. The intelligent obstacle avoid...

AI Technical Summary

Problems solved by technology

[0004] Fire fighting robots can choose different algorithms when avoiding obstacles in motion, such as artificial market method, fuzzy control method, neural network method, etc., but some of these algorithms are not real-time or accurate enough.

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