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Coal mine rescue robot (CMRR) places an important role when any disaster happens in underground mine. However, they have not yet an effective approach for rescue robot navigation and location in unknown and complex environment. In this paper, a new nonLinear optimal control synthesis method, called the two-step method, is developed to improve optimaLity and to secure stabiLity of the CMRR navigation...
This paper mainly focuses on a multi-sensor system for combining data from infrared and ultrasonic sensors in the navigation of coal mine rescue robots, meanwhile a navigation method is presented. A multiple infrared and ultrasonic sensor system has been developed for complete coverage navigation of a robot. By fusing the aspects of different sensors with different beam-widths, more efficient colLision...
This paper establishes the three-wheel mobile robot kinematics model based on the research on its structure and working principle. A novel algorithm is developed for the trajectory tracking and posture stabilization of three-wheel mobile robot using contractive model, which address stability by adding terminal state penalties in the performance index and imposing constraints on the terminal state,...
The kinematics model and dynamics model of laser guided measuring robot (LGMR) are established based on the research on its structure and working principle. In deal with the moving deviation of LGMR caused by the characteristic inconsistent of two independent driving motors, a novel adaptive tracking control algorithm is proposed based on LGMR dynamic model. The control algorithm can compensation...
This paper establishes the laser guided measuring robot (LGMR) kinematics model and measurement model based on the research on its structure and working principle. A novel scheme is proposed for LGMR localization using wireless network technology, which integrates the in-network processing capability of a sensor network and the on board sensing and processing power of LGMR, also, the wireless sensor...
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