Optimal path planning algorithm for coal mine search and rescue robot
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摘要: 针对煤矿搜救机器人路径规划过程中因受障碍区间的干扰导致全局最优路径难以确定的问题，提出了基于梯度-坐标轮换法的煤矿搜救机器人最优路径规划算法。机器人首先按照梯度-坐标轮换法运动，然后根据已有的运动路径进行局部路径优化，并对所规划的局部最优路径进行可行性判断，直到路径中不存在障碍区间为止。仿真结果表明，该算法能够使煤矿搜救机器人在避开障碍的前提下，准确地规划出从出发点到目标点的全局最优路径，从而提高机器人运动路径规划的合理性和高效性。Abstract: In view of problem that global optimal path was difficult to determine due to disturbance of obstacle interval in process of path planning for coal mine search and rescue robot, optimal path planning algorithm for coal mine search and rescue robot based on gradient-coordinate rotation method was proposed. The robot first moves according to gradient-coordinate rotation method, then performs local path optimization according to existing motion path, and makes feasibility judgment on the planned local optimal path until there is no obstacle interval in the path. The simulation results show that the algorithm can make the coal mine search and rescue robot accurately plan the global optimal path from starting point to target point under the premise of avoiding obstacles, so as to improve rationality and efficiency of robot motion path planning.
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期刊类型引用(2)
1. 刘晓阳，郑昊琳，刘金强，王栋，孙明飞. 基于压缩感知改进SP算法的井下人员定位方法. 煤炭技术. 2022(05): 164-167 . 
百度学术
2. 田子建，贺方圆. 一种基于分布式压缩感知的矿井目标指纹数据库建立方法. 电子与信息学报. 2019(10): 2450-2456 . 百度学术
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