中文摘要：

为了实现煤矿环境探测救灾机器人的自主行走,在其周围布置6个固定探测距离为24 cm的GP2Y0D21YK型红外开关和6个测量范围为10～80 cm的GP2D12型红外测距传感器对障碍物进行探测识别。机器人对障碍物进行坐标计算和记录存储,并通过人工势场方法实现自主避障行走。试验结果表明,两种传感器的相互结合大大提高了机器人的避障效果和智能性。

英文摘要：

In order to make the coal mine environment exploration rescue robot move automatically,put 6 GP2Y0D21YK type on-off infrared ranging sensors whose fixed detection distance is 24 cm and 6 GP2D12 type large-space infrared ranging sensors whose detection distance is from 10 cm to 80 cm around it,and use these sensors to identify obstacles.The robot calculates the coordinates of obstacles,records and stores the calculation result,and realizes automatic obstacle avoidance through the method of artificial potential field.The test results show that two kinds of sensors combining with each other greatly enhanced the obstacle avoidance effect and intelligent degree of the robot.