The Analysis on Track-Memory of Omnidirectional Fire Robot

摘要

The track-memory of omnidirectional fire robot is so useful in locating the robot in fire scene, ultrasonic location nor map-matching nor other methods in self-orientation are not suitable for fire robot because of the precision requirement and response speed, in this paper, a simplified method based on inertial measurement unit (IMU) is proposed, in this method the position of robot is calculated by the acceleration and angular velocity, and iterative equation is derived, as the omnidirectional fire robot is always used as a translational device, the rotations of the robot in triaxial-axis are zero, a more practical algorithm based on the triaxial accelerometer is established. A fire robot model has been set up, experiment both with smoothing curve path and un-smoothing curve path have been made, the trajectorys are iteratived by the practical algorithm, the experimental results demonstrated the practicability and accuracy of the new simplified method.