矿用机器人局部路径优化算法研究  

Research on local path optimization algorithm mining robot

作　　者：武达[1] 王然风[1] 付翔[1] 梁毅[1] WU Da;WANG Ran-feng;FU Xiang;LIANG Yi(Taiyuan University of Technology,Taiyuan 030024,China)

机构地区：[1]太原理工大学,山西太原030024

出　　处：《煤炭工程》2020年第3期132-136,共5页Coal Engineering

基　　金：山西省科技计划研究项目面上青年基金(201801D221358)。

摘　　要：煤炭资源现阶段依然是我国的主要能源之一,然而煤炭开采过程中的特殊环境导致了安全事故频有发生。针对发生矿难后环境复杂、光线黑暗、通信不畅等问题,为了使机器人要顺利避开巷道内障碍物达到目的地展开工作,提出了一种基于JPS(jump point search)-A*的算法,在保证选出最优路径的同时,大大减少了传统A*算法在寻路过程中扩展的节点。实验室仿真结果表明运用改进后的A*算法,较传统A*算法在寻找最佳路径的速度提高了约2倍,在现实工业生产中具有深远的指导意义。Coal resource is still one of the main energy sources in China at the present,but the special environment in the coal mining process leads to frequent safety accidents.Aiming at the complex environment,dark light,and poor communication after mine disaster,in order to make the robot to avoid obstacles in the roadway to reach its destination,we propose an algorithm based on JPS(jump point search)-A*,while ensuring that the optimal path is selected,the number of nodes that the traditional A* algorithm expands during the path finding process is greatly reduced.Laboratory simulation results show that the improved A* algorithm is about 2 times faster than the traditional A* algorithm in finding the optimal path,which has far-reaching guiding significance in real industrial production.

关 键 词：矿用机器人 A*算法 JPS-A*算法 路径 

分 类 号：TD679[矿业工程—矿山机电]