煤矿救援机器人全局路径规划

全局路径规划是煤矿救援机器人自主导航的关键技术之一,其任务是按照某一最优指标寻找一条从起始点到目标点的安全避碰路径。文中针对矿难发生后,井下部分巷道的局部环境不确定的特点,提出以矿难前的已知GIS系统为基础,结合改进蚁群算法获取环境不确定情况下的优化路径,从而获得全局最优路径的策略;依据安全性、路径最短原则设计了适应值评价函数,依此作为路径评价和信息素更新的依据;为避免停滞现象,采用确定性选择和随机选择相结合的路径选择策略。实验结果验证了算法的正确性和有效性。

Global path planning for coal mine rescue robots

Global path planning is one of the key techniques of autonomous navigation of coal mine rescue robot,which purpose is to find a collision-free path from the source to the destination.Aiming at the undetermined situations of the part of laneway after the mine disasters,based on the known GIS systems,the paper proposed a new global path planning scheme which adopts the improved Ant Colony Algorithm to obtain the optimal path in unknown environment;In light of rule of security and the shortest path,the fitness evaluation function is designed,and it is used for path evaluation and pheromone updating.In order to avoid plunging into the stagnating,the synthesizing path planning strategy of deterministic and stochastic selections is adopted.Integrity and effectiveness of the algorithm has been proved through the simulation.