文献类型：期刊文献

英文题名：Navigation method of fire-fighting robot based on a commercial electronic map

作者：Chen, Zehua[1]; Tang, Qitao[1]; Kuo, Xiaohui[1]; Miao, Zhejun[1]; Liu, Shuang[1]

机构：[1] School of Mechanical and Power Engineering, East China University of Science and Technology, Shanghai, China

年份：2022

起止页码：627

外文期刊名：2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022

收录：EI(收录号：20230613554741)

语种：英文

外文关键词：Fire extinguishers - Fires - Navigation - Robots

摘要：As fire-fighting robots perform emergency tasks in an outdoor long-distance environment such as urban fire rescue, a global prior map is hard to be obtained, so most fire-fighting robots are remotely controlled by humans to reach the target location. To solve this problem, we propose a navigation method based on a commercial electronic map like the 2D AutoNavi map (knowns as Gaode in Chinese), which can plan rough sub-target points to guide local motion planning. Global planner uses the commercial electronic map API to plan rough global sub-target points and then aligns the global sub-target points data with the real positioning information. In the local grid map, the local planner performs local planning tasks in order of sub-target points. During the local movement, the sub-target point of each segment is corrected in real time according to the actual environmental information. Extensive experiments have been carried out in outdoor environment. The results prove that this method has better real-time performance for fire-fighting robots' outdoor navigation and is easy to deploy with no prior map. ? 2022 IEEE.