The Control System and Application Based on ROS Elevating Fire-Fighting Robot

摘要

Abstract Nowadays, fire accident is happening frequently which brings serious damages to people’s lives and properties; at present, fire-fighting robot is unable to perform targeted fire-fighting and combustion source at high places has brought difficulties to fire control and fighting; therefore, fire-fighting and assistance are facing unprecedented challenges. In view of this, the paper researched and developed an automatic control system for elevating fire-fighting robot, so as to solve the key difficulties and problems for fire control and fighting of fire-fighting robots. The research target consists of three aspects, firstly, the system has realized the elevating fire control and fighting function; secondly, we have designed an automatic control system for elevating fire-fighting robot based on ROS structure; thirdly, the paper has established the automatic control strategy play for raise arm of the elevating fire-fighting robot featured with stable and controllable operation, so as to solve the problem of unsteadiness in the elevating process and speed up application and popularization of fire-fighting and disaster rescue of the fire-fighting robot.