目前煤矿水泵房排水设备的巡检工作仍需要人工完成，存在工人巡检懈怠，巡检不及时，巡检不到位，巡检结果数字化不便等问题。结合里程计定位技术、轮式移动机器人导航和避障技术，以ROS机器人开发平台为基础，研究了一种适用于井下水泵房环境的巡检机器人全局路径规划与跟踪算法，可实现巡检机器人在无人为干预，无磁轨、线缆或GPS辅助的情况下按照设定的路径自主移动完成水泵房设备的巡检工作。首先根据水泵房的平面图建立二维栅格地图，通过PRM路径规划算法在建好的二维栅格地图中规划一条经过所有检测点和行进点的无障碍路径，接着通过Pure Pursuit路径跟踪算法计算巡检机器人沿该路径行走需要的实时线速度和角速度，将其发送给巡检机器人运动控制器，然后控制器根据雷达数据实时监测机器人10 cm范围内障碍物情况，决定巡检机器人是否采用当前的线速度和角速度沿规划路径行走，最后在机器人到达检测点后对排水设备进行拍照和运行数据的采集。通过对巡检机器人的模拟实验结果分析得出：巡检机器人能够避开路径上的障碍物，准确到达巡检点，机器人实际位置平均误差为4 cm，姿态角度平均误差为 0.095 rad ，满足机器人巡检工作的要求。

At present,the inspection work of the drainage equipment of the coal mine pump room still needs to be completed manually. The inspection is not in place,and the digitalization of inspection results is inconvenient. Combining odometer positioning technology,wheeled mobile robot navigation and obstacle avoidance technology,and based on the ROS robot development platform,this paper studies a global path planning and tracking algorithm for an inspection robot suitable for an underground pump room environment. The inspection robot moves autonomously according to the set path without human intervention and without the assistance of magnetic tracks,cables or GPS to complete the inspection of the pump room equipment. This paper firstly establishes a two-dimensional grid map according to the floor plan of the pump house,and plans an obstacle-free path through all detection points and travel points in the built two-dimensional grid map through the PRM path planning algorithm,and then uses the Pure Pursuit path tracking algorithm. Calculate the real-time linear velocity and angular velocity required for the inspection robot to walk along the path,and send it to the inspection robot motion controller,and then the controller monitors the obstacles within 10cm of the robot in real time according to the radar data,and decides whether the inspection robot adopts the current The linear velocity and angular velocity of the robot walk along the planned path,and finally,after the robot reaches the detection point,the drainage equipment is photographed and the operation data is collected. Through the analysis of the simulation experiment results of the inspection robot,it is concluded that the inspection robot can avoid obstacles on the path and reach the inspection point accurately. The average error of the actual position of the robot is 4 cm,and the average error of the attitude angle is 0.095 rad,which meets the requirements of the robot inspection work.