本研究致力于通过自主设计搭载2D激光传感器的四轮独立驱动巡检机器人,对四轮独立驱动与转向巡检机器人的运动学进行分析,建立机器人运动学模型,进而对巡检机器人路径规划和避障算法的分析与优化开展深入研究,提高算法路径的计算效率和定位精度,从而满足巡检机器人全时值守、自主巡检的设计需求。该研究将有利于巡检机器人自动化和智能化发展,从而更好、更高效的为巡检行业服务,为创造经济优势提供新的机会,并且在区域产业未来发展中具有很大的经济效益和社会价值。This study aims to independently design a four-wheel independent drive inspection robot equipped with 2D laser sensors, analyze the kinematics of the four-wheel independent drive and steering inspection robot, establish a robot kinematic model, and further conduct in-depth research on the path planning and obstacle avoidance algorithm of the inspection robot, improve the calculation efficiency and positioning accuracy of the algorithm path, and meet the design requirements of full-time duty and autonomous inspection of the inspection robot. This study will be beneficial for the automation and intelligence development of inspection robots, thereby better and more efficiently serving the inspection industry, providing new opportunities for creating economic advantages, and having great economic benefits and social value in the future development of regional industries.
