基于栅格法与改进A^(*)算法的掘进机截割轨迹规划  

Cutting trajectory planning of roadheader based on raster method and improved A^(*)algorithm

作　　者：沈显庆 王贺 马志鹏 杨莹 张恒 Shen Xianqing;Wang He;Ma Zhipeng;Yang Ying;Zhang Heng(School of Electrical & Control Engineering, Heilongjiang University of Science & Technology, Harbin 150022, China)

机构地区：[1]黑龙江科技大学电气与控制工程学院,哈尔滨150022

出　　处：《黑龙江科技大学学报》2021年第5期642-647,共6页Journal of Heilongjiang University of Science And Technology

摘　　要：针对传统A^(*)算法在有夹矸巷道断面内所规划截割轨迹覆盖率较低的问题,采用最大类间方差法处理巷道断面图像,根据煤岩分布特征进行栅格法建模,通过改进的A^(*)算法规划截割轨迹,对比改进A^(*)算法与传统A^(*)算法各自实现的断面截割覆盖率。结果表明,改进A^(*)算法所规划的截割轨迹将截割覆盖率提高了1.8372%,可有效提高掘进机的工作效率和巷道断面截割成型效果。This paper is intended to address a lower coverage of the cut-off trajectory inherent in traditional A^(*)algorithm in the dirt band roadway section.The study involves applying the maximum inter-class variance method to process the roadway section image;modeling the coal and rock distribution characteristics using the raster method,and planning the cut-off trajectory using improved A^(*)algorithm;and comparing the coverage of the section cut by the improved A^(*)algorithm with that by the traditional A^(*)algorithm.The results show that,the improved A^(*)algorithm could plan the cut-off trajectory featuring a maximum cut-off coverage improvement by 1.8372%,contributing to effectively improving the efficiency of the roadheader and the effect of cutting the roadway section.

关 键 词：掘进机 截割轨迹 OSTU算法 栅格法建模 改进A^(*)算法 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程] TD421.5[自动化与计算机技术—控制科学与工程]