Design of Real-time Obstacle Avoidance Control System for Power Tunnel Fire-fighting Robots

Abstract

In order to solve the problem of fire rescue in power tunnels, it is necessary to study the design method of obstacle avoidance control system for fire-fighting robots. Poor response and effectiveness is one of the typical problems when using the current design method in the obstacle avoidance control system of power tunnel fire-fighting robots. A real-time method of obstacle avoidance control system for power tunnel fire-fighting robot is proposed in this article. The design of fire-fighting robot is completed through coordination and cooperation among power modules, lidar ranging modules, servo control modules and motor drive circuits. On the principle of artificial potential field, the obstacle range in power tunnel is divided into multiple window cells by grid method, the attractive force and repulsive force generated by the target point and obstacle in cells is calculated. According to the calculation results, the resultant force is obtained, which makes the fire robot avoid the obstacles in the power tunnel. Therefore, obstacle avoidance control system of the fire robot in the power tunnel is completed. The experimental results show that the proposed method is highly responsive and effective.