On the elimination of the consequences of emergencies with the help of robotics complexes

Vitaliy Sobyna

National University of Civil Defence of Ukraine

http://orcid.org/ 0000-0001-6908-8037

Dmytro Taraduda

National University of Civil Defence of Ukraine

http://orcid.org/0000-0001-9167-0058

Dmytro Sokolov

National University of Civil Defence of Ukraine

http://orcid.org/0000-0002-7772-6577

Maksym Dement

National University of Civil Defence of Ukraine

https://orcid.org/0000-0003-4975-384X

DOI: https://doi.org/10.52363/2524-0226-2021-33-15

Keywords: emergency situation, potentially dangerous object, radiation- chemical-hazardous or explosive substance, robotics complexes, control system

Abstract

An algorithm for controlling the robotic complex during the elimination of the consequences of emergencies that occur at facilities where hazardous chemicals, radioactive or explosive substances are exploited or transported has been developed. The proposed algorithm allows you to synthesize the response to input commands and the characteristics of a closed loop completely independently. The paper proposes a new power controller, which has two obvious advantages: first, it has a robust structure of the servo system, ie when controlling the reaction force from the environment, it also controls the stability and maintaining a fairly high speed; secondly, the force is controlled through the position, ie the proposed power controller includes a trajectory control system. The goal was solved by applying the model of impedance and inverse kinematics in the motion control system. In order to further verify the algorithm of control of the robotic complex in the aftermath of emergencies in the work formulated qualitative and quantitative values of the main tactical and technical characteristics of the robotic complex, such as: range of radio and TV control, frequency of radio and TV channels, maximum radioactive radiation power complex, the maximum concentration of basic hazardous chemicals in the area of operation of the complex, the maximum heat flux in the area of operation of the complex and the time of its operation in such conditions, as well as the maximum speed of the complex. Based on the study of domestic and foreign experience in the use of mobile robots in the work developed a general structural diagram of the robotic complex to eliminate the consequences of emergencies. The trajectory of the robotics complex during preliminary reconnaissance in the zone of conditional emergency has also been developed. When designing the trajectory of motion, the following algorithms were used with their characteristic conditions and constraints: an algorithm based on representations of the trajectory of motion in the form of an oriented acyclic graph; algorithm for finding K the shortest paths between two given vertices in an oriented acyclic graph; algorithm for assigning scales to the vertices of the specified graph, taking into account the overall dimensions and requirements for minimizing energy consumption. Further research is planned on the development of a full-scale model of a robotic complex to eliminate the consequences of emergencies that occur at facilities where hazardous chemicals, radioactive or explosive substances are exploited or transported

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