复杂环境下煤矿救灾机器人路径规划  

Path Planning for Coal Mine Rescue Robot in Complex Environment

作　　者：陈尔奎[1] 吴梅花 张英杰 CHEN Er-kui;WU Mei-hua;ZHANG Ying-jie(Shandong University of Science and Technology,Qingdao 266590,China)

机构地区：[1]山东科技大学,山东青岛266590

出　　处：《煤炭技术》2018年第10期301-304,共4页Coal Technology

基　　金：山东省重点研发计划(2017CXGC0925)

摘　　要：针对矿井灾后复杂环境下救灾机器人路径规划问题,提出一种双层路径规划机制:首先采用改进遗传算法进行全局路径规划,然后将其作为机器人初始路径,机器人沿初始路径前进时采用人工势场法进行动态避障,并提出了更换局部目标点思想,解决了障碍物覆盖住局部目标点时导致机器人无法到达目标点的问题。最后在MATLAB平台上进行了仿真实验,结果证明所提算法是有效的。Aiming at the path planning problem for coal mine rescue robot in complex environment,a double-deck path planning idea was proposed.Firstly,the improved genetic algorithm was used to plan the global path,and then it was used as the initial path of the robot,and the robot can avoid the obstacle dynamically by the artificial potential field method along the initial path.The idea of changing the local target point was proposed to solve the problem that the robot can not reach the target point when the obstacle covers the local target point.Finally,simulation experiments on MATLAB platform show that the proposed algorithm is effective.

关 键 词：煤矿救灾机器人 改进遗传算法 人工势场法 更换局部目标点法 路径规划 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]