关键词: 消防侦查机器人, 碰撞检测, 蒙特卡洛, 视轴规划

Abstract: The paper concentrates on the study of dangerous environment fire reconnaissance robot which developed by the laboratory. The robot is a tracked body, loaded an arm with a 3 degree of freedom, and the HD reconnaissance camera is attached to the end of the robotic arm. The contents of this paper are as in the known environment independent planning the manipulator obstacle avoidance and adjusting the camera sight direction to achieve lock on the environment in key areas. This paper firstly establishes manipulator kinematics model using exponential product, Minkowski and 3D convex hull algorithms are used for detecting the collision, Monte Carlo sampling method is used to sampling configuration space. It establishes virtual links at the end of camera and uses the collision detection algorithm to ensure the realization of sight without shelter. Simulation results show that using this algorithm can find the best camera pose to lock the key area and to ensure that view has no occlusion.

Key words: fire reconnaissance robot, collision detection, Monte Carlo, Line Of Sight（LOS） planning