Research on Obstacle Avoidance of Fire-Fighting Robot Based On Fuzzy Control

摘要

Fire-fighting robot can instead of humans in the event of a fire extinguishing task. An obstacle avoidance strategy based on fuzzy control is presented in this paper. The method doesn't have to determine the motion model of fire -fighting robot accurately. Robot can detect obstacles by using infrared sensor and detect the location of the fire with far infrared sensor. The environmental information which is detected by those sensors controls the robot movement and realizes the obstacle avoidance and navigation. Verified by the experiment, this method is used to control fire-fighting robot to detect the obstacles real-timely, to avoid obstacles effectively and to find a valid path in an unknown environment.