基于蚁群算法的人员疏散机器人路径规划方法  

Path planning method of personnel evacuation robot based on ant colony algorithm

作　　者：王俊彭 宋屹峰[2,3] 赵娟平 饶成龙 WANG Junpeng;SONG Yifeng;ZHAO Juanping;RAO Chenglong(Information Engineering Institute,Shenyang University of Chemical Technology,Liaoning Shenyang 110142,China;State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Liaoning Shenyang 110016,China;Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Liaoning Shenyang 110169,China)

机构地区：[1]沈阳化工大学信息工程学院,辽宁沈阳110142 [2]中国科学院沈阳自动化研究所机器人学国家重点实验室,辽宁沈阳110016 [3]中国科学院机器人与智能制造创新研究院,辽宁沈阳110169

出　　处：《工业仪表与自动化装置》2023年第4期77-83,88,共8页Industrial Instrumentation & Automation

摘　　要：隧道内突发碰撞或火灾等事故后常造成车辆堵塞情况,尤其在长大公路隧道,由于长大隧道狭长封闭受限环境与事故现场信息交互不畅特征,交通拥堵后造成受困人员引导疏散的困难。该文基于轨道式机器人,通过搭载视觉传感器抵近车窗位置开展检测作业。面向受困车辆前后车窗多观测点位,提出了一种基于蚁群算法的检测路径规划方法,用于在最短时间内开展车辆受困人员的引导疏散。轨道式机器人具有快速移动到拥堵车辆位置的特点,基于提出的检路径规划方法可以降低机器人检测路径的距离,有效提高受困人员的搜救效率。Accidents such as sudden collisions or fires in tunnels often cause vehicle jams,especially in long highway tunnels.Due to the long and narrow closed restricted environment of long tunnels and accident scene information interaction characteristics,traffic congestion will cause difficulties in guiding the evacuation of trapped people.Based on the orbital robot,this thesis carries out the detection operation by carrying the vision sensor tothe position of the vehicle window.A detection path planning method based on ant colony algorithm is proposedto carry out the guided evacuation of the trapped persons in the vehicle in the shortest time for the multiple observation points of the front and rear windows of the trapped vehicles.The proposed detection path planning method can reduce the distance of the robot detection path and effectively improve the search and rescue efficiency of the trapped personnel.

关 键 词：轨道式机器人 路径规划 蚁群算法 引导疏散 

分 类 号：TP29[自动化与计算机技术—检测技术与自动化装置]