为了提高我国煤矿事故救援装备水平，本文全面、系统分析了国内外救援机器人，特别是煤矿救援机器人研究现状和发展趋势，在本团队研发的六履带四摆臂煤矿救援探测机器人平台的基础上，深入研究了其避障和越障机理以及控制策略。 针对煤矿救援探测机器人自主导航的需求，分析了煤矿井下事故非结构障碍地形特点，研究了煤矿救援探测机器人的避障和越障机理，提出了“场景集—动作规划集—电机控制集”的控制策略。机器人依据场景集内障碍环境的匹配结果，搜索动作规划集中相对应的运动姿态，从而确定控制电机及其控制参数，使机器人精确完成各种避障及越障运动。 研究了煤矿事故井下地形特征，提出了场景集的地形规类方法。场景集中包含有水平类障碍地形和垂直类障碍地形。水平类障碍地形根据障碍物的布放位置划分为前方障碍与侧方障碍，而垂直类障碍环境根据障碍物的大小及空间位置不同，划分为独立台阶型、连续台阶型、单侧台阶、凸台、斜坡及沟壑地形。 研究了机器人在场景集中不同典型特征地形对应的姿态控制问题，给出了相应的姿态控制参数，提出了动作规划集的控制方法。动作规划集包含避障及越障的各种动作规划，其在场景集的水平类障碍地形对应避障运动，在场景集的垂直类障碍地形对应越障运动。 针对动作规划集的避障和转向运动控制问题，分析了机器人橡胶履带的运动学和动力学。提出了柔性体动力学有限段模型与橡胶履带动力学模型相结合的分析方法，建立了橡胶履带的多刚体模型，并借助多体动力学仿真软件ADAMS完成了仿真实验，通过对橡胶履带煤矿救援探测机器人行驶状态的受力分析，揭示了橡胶履带的受力变形特性以及履带与地面的相互作用关系，为解决机器人行驶控制的准确性提供了理论依据。同时提出了履带机器人的中心转向及大半径转向的避障控制方式，给出了避障转向的行驶路线与障碍物大小、方位及机器人所占用避障空间的计算公式。 研究了动作规划集的越障运动，分析摆臂姿态与机器人重心位置的变化关系，揭示了机器人重心变化的规律。在此基础上研究了机器人在独立障碍、单侧台阶障碍、沟壑地形及斜坡地形下的越障机理，提出了机器人面向不同地形需要不同摆臂姿态的越障控制策略。 研究了六履带四摆臂煤矿救援探测机器人避障和越障的特点，提出了包含电机及其旋转速度、旋转角度及旋转方向的电机控制集。在水平类障碍环境下，建立了滑转、滑移量与机器人转向半径的数学模型；在垂直类障碍环境下，建立了摆臂电机角度与机器人本体姿态的数学模型，实现了机器人避障和越障运动的准确控制。 最后，在实验室和矿井安全生产模拟实验巷道环境下进行了实验验证，应用机器人“场景集—动作规划集—电机控制集”的控制策略，实现了机器人在水平类障碍环境下的前方障碍及侧方障碍的避障转向控制，在垂直类障碍环境下的独立台阶及单侧台阶的越障姿态控制，验证了本文数学模型、研究方法和控制策略的正确性及适用性。

In order to improve the level of rescue equipments in the mine accidents of our country, rescue robots at home and abroad were analyzed systematically and comprehensively, especially the current research situation and prospect of coal mine rescue robot. Mechanism of obstacle surmounting and avoidance was studied deeply and its control strategy was made, all of this can be done on six track robot with four swing arms which have been developed by our team. The characteristics of unstructured obstacles terrain have been analyzed for the demond of mine rescue detecting robot’s autonomous navigation, mechanism of obstacle surmounting and avoidance on mine rescue robot was studied and then control strategy was proposed, and the strategy is sets of scenes-sets of action plannings-sets of motor controls. Robot could find its movement in sets of action plannings according to the results which could get by matching the obstacles with the sets of scenes, then the motors could be chosen and its control parameters could be determined. At last, robot could complete the work accurately in obstacle surmounting and avoidance. The classification method about sets of scenes was proposed after analyzing features of coal mine terrain in the post-disaster environment. The sets of scenes contain horizontal obstacle terrains and vertical obstacle terrains. Horizontal obstacle terrains were divided into lateral-obstacle and front-obstacle according to different position of the obstacles. Vertical obstacle terrains were divided into single-step, steps, one-side step, boss, slope and ditch terrains according to the obstacles’ size and its spatial position. It was studied problems on robot’s attitude control in differente typical characteristic terrains of the sets of scenes, the parameters should be ensured for robot’s attitude control, then the control methods were proposed on sets of action plannings. The sets of action plannings contains all kinds of plannings about the movements of obstacle surmounting and avoidance. Obstacle avoidance corresponds to the horizontal obstacle terrains, and obstacle surmounting corresponds to the vertical obstacle terrains. The kinematics and dynamics were analyzed for robot’s rubber track, and it was to solve the problems on obstacle avoidance and turning in sets of action plannings. The analyze method was proposed that the rubber tracks dynamical model connects with the finite segment model used in flexible multibody dynamic, and multi-rigid-body models have been established for rubber tracks. The simulation experiments were completed by using multi-body dynamics emulation software ADAMS. The mechanical properties and the deformation characteristics of rubber track were revealed and the interactions between rubber track and ground were reflected, these results could get through analyzing the force situation of rubber track when coal mine rescue detecting robot run, and it offered an intellectual rationale for robot to keep the accuracy in control. At the same time the control methods which include center turing and big radius turning were proposed for obstacle avoidance, and computational formulas on run route were made according to the obstacle size, position and robot’s avoidance space. The movements of obstacle surmounting in sets of action plannings were studied, and analyzing the change relationship between attitude of swing arms and position of the center of gravity, the change law of the center of gravity was revealed. Base on these theories, the mechanisms of obstacle surmounting were analyzed in obstacle terrains, such as single-step, one-side step, slope and ditch terrains, it was proposed that the robot swing arms’ attitudes are different when the robot face different obstacles in control strategies of obstacle surmounting The characteristics of the obstacle surmounting and avoidance have been studied for six track mine rescue detecting robot with four swing arms, and the sets of motor controls was proposed and it contained motors and its speed, angle and direction. In horizontal obstacle terrains, it has established the mathematical models which contains the relationship between the level of the skid and slip and its turning radius. In vertical obstacle terrains, it has established the mathematical models which contain the relationship between swing arms’ angle and robot’s attitude, and it has realized the accurate control for robot’s movements of obstacle surmounting and avoidance. Lastly, the experements have been done in the laboratory environment and simulated roadway environment for mine safety production by applying the control strategy in the form of sets of scenes-sets of action plannings-sets of motor controls. In front-obstacle and lateral-obstacle terrains of horizontal obstacle terrains, the turning controls were realized in obstacle avoidance, and in single-step and one-side step terrains of vertical obstacle terrains, attitude control were realized in obstacle surmounting, and experements have manifested that the model, theory method and control strategy are correctness and usefulness.