Combination Strategy of Dynamic Obstacle-Avoidance and Autonomous Tracking for Hazardous Gases Inspection Robot in Man-Machine Environment

Abstract A variety of toxic and hazardous gases exist in many working or storage environments, and once a leak occurs, it will cause a wide range of casualties and immeasurable economic losses. To improve the timeliness and flexibility of the inspection equipment in a man-machine hybrid environment, this research provides an effective and practical method to improving the autonomous behavior strategy of robots in complex environments. The team designs a mobile inspection robot used to inspect hazardous gas which can be controlled remotely or inspect dangerous gas independently first, the robot is controlled by a host computer through a hybrid architecture control system mainly composed by Micro Controller Unit (MCU), Raspberry Pi based on Wi-Fi formed by a wireless router. The robot uses the hub motors as the driving wheels, equipped with multiple sensors and cameras to complete forward and backward, turning, possesses target tracking, obstacle avoidance and real-time image transmission functions softly. Based on the robot kinematic model built, this paper studies the interfering objects four typical behavior patterns, establishes a social force model to guide the robot behavioral decision-making under dynamic obstacles. To verify the effectiveness of the combination motion strategy, Matlab is used to establish a shared environment space, trajectory simulation of the state of human crossing behavior and encounter behavior, and the speed change trend of the mobile robot is recorded. Combines the dynamic obstacle avoidance strategy presented based on fuzzy thinking, an autonomous tracking strategy by adopting Fuzzy-PID controller is proposed, the experiments under fixed trajectory indoors verifies that when the robot deviates from the predetermined trajectory during inspection operations, the Fuzzy-PID control system can effectively help the robot return to the target trajectory, which the PTZ is stable and the video image is clear and the frame rate is more than 10 frames per second shows the good inspection performance. The results of simulation and test are similar, and the robot position error up to 10mm, the angle error up to 0.1 rad, which draws the reliability and accuracy of the inspection method,. And the robot can fast responsive, the small-scale time delay of the speed change does not affect the obstacle avoidance effectiveness, the robot and human will always maintain a sufficient safety distance to reduce the "sense of crisis" that humans towards to the robot.