Autonomous navigation method of mobile robot in complex nuclear accident environment

A mobile robot, complex environment technology, used in two-dimensional position/channel control, instruments, vehicles, etc.

Active Publication Date: 2021-10-08
SHANGHAI JIAO TONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0007] In view of the above-mentioned defects of the prior art, the technical problem to be solved by the present invention is how to accurately describe the radiation characteristics and physical traversability characteristics of the environment, and comprehensively consider the length of the path, the radiation dose and the gradient of the road surface, and how to provide a robot in a complex environment. plan the most suitable path

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  • Autonomous navigation method of mobile robot in complex nuclear accident environment
  • Autonomous navigation method of mobile robot in complex nuclear accident environment
  • Autonomous navigation method of mobile robot in complex nuclear accident environment

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Embodiment Construction

[0059] The following describes several preferred embodiments of the present invention with reference to the accompanying drawings, so as to make the technical content clearer and easier to understand. The present invention can be embodied in many different forms of embodiments, and the protection scope of the present invention is not limited to the embodiments mentioned herein.

[0060] In the drawings, components with the same structure are denoted by the same numerals, and components with similar structures or functions are denoted by similar numerals. The size and thickness of each component shown in the drawings are shown arbitrarily, and the present invention does not limit the size and thickness of each component. In order to make the illustration clearer, the thickness of parts is appropriately exaggerated in some places in the drawings.

[0061] Such as figure 1 Shown, is the autonomous navigation method of the mobile robot of a preferred embodiment of the present in...

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Abstract

The invention discloses an autonomous navigation method of a mobile robot in a complex nuclear accident environment, and relates to the field of nuclear engineering and nuclear technology. The method comprises the following steps of: processing and rasterizing a radiation field distribution map to obtain a radiation cost map; processing an environment point cloud map, projecting the environment point cloud map into a grayscale image, and processing the grayscale image to obtain an image gradient and a gradient cost map; superposing the radiation cost map and the gradient cost map to obtain a multi-layer cost map; according to the environment point cloud map and the current radar data, carrying out positioning by using a Scan Context algorithm to obtain the position of a robot in the environment; and planning a reasonable path by using an improved A * algorithm according to the multi-layer cost map and the positioning information, so as to enable the robot to reach a target position. According to the method, various factors can be considered at the same time in a complex nuclear accident environment, a safe and efficient path is planned for the robot, and safe and reliable autonomous navigation is realized.

Description

technical field [0001] The invention relates to the fields of nuclear engineering and nuclear technology, in particular to an autonomous navigation method for a mobile robot in a complex nuclear accident environment. Background technique [0002] With the rapid development of the nuclear industry and the widespread use of nuclear power technology, people's demand for nuclear radiation safety is becoming increasingly urgent. In the daily operation of nuclear power plants, workers will inevitably be affected by radiation, which endangers personal safety. In recent decades, the increasing development of robotics technology has made it possible for robots to perform tasks in radiation environments. Most of the nuclear environment robots developed at this stage are mobile remote-controlled robots, but in many emergency situations, remote control operations will be more difficult. This puts forward new requirements for safe and autonomous navigation of robots in radiation enviro...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0257G05D1/0276G05D1/0219G05D2201/02
Inventor 熊振华黄颖周研吴建华
Owner SHANGHAI JIAO TONG UNIV
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