Design of Automatic Obstacle Avoiding Rescue Robot in Coal Mine Environment

摘要

A coal mine rescue robot is designed in the paper. It can be used in the complex environment when the mine tragedy happened. The robot avoids sinking into the zero potential energy point by using the improved artificial potential field. An algorithm of obstacle avoidance is developed in the paper. The robot employs the algorithm to move automatically in the mine tunnel according to the navigation of the electronic map. There are eight infrared sensors in the robot. These sensors are divided into two groups which have different frequencies and detection ranges. All parameter of the robot is transmitted to the ground control center through the wireless network module by using the camera and gas sensors to detect the video information and dangerous gas content.