基于FDH包围盒算法的煤矿井下机器人避障最小安全距离控制  

Minimum safe distance control for obstacle avoidance of underground coal mine robots based on FDH bounding box algorithm

作　　者：韩雷 云龙 HAN Lei;YUN Long(Yujialiang Coal Mine,China Energy Shendong Coal Group Co.,Ltd.,Yulin,Shaanxi 719315,China)

机构地区：[1]国能神东煤炭有限责任公司榆家梁煤矿,陕西省榆林市719315

出　　处：《中国煤炭》2024年第S01期21-27,共7页China Coal

摘　　要：煤矿井下复杂多变的环境对煤矿井下机器人的避障能力提出更高的要求。提出基于FDH包围盒算法的煤矿井下机器人避障最小安全距离控制。构建煤矿井下机器人的运动学模型,通过控制各轮子的加速度控制机器人运动状态;采用FDH包围盒算法构造FDH二叉树,利用点三角形碰撞检测方法精确计算机器人与障碍物基本几何元素之间的距离,进而判断两者是否发生碰撞。排除不会发生碰撞的障碍物后,采用一元五次多项式算法规划机器人移动轨迹,并获取机器人横向加速度,根据位移量与横向加速度确定机器人避障最小安全距离。实验结果说明:利用该方法进行避障最小安全距离控制,机器人在简单场景和复杂场景狭窄的空间中能够成功避开障碍物,平滑、顺利到达终点;且所规划出的避障轨迹中机器人与障碍物之间的安全距离最小。The complex and ever-changing environment underground in coal mines proposes higher demands on the obstacle avoidance ability of underground robots.Minimum safe distance control for obstacle avoidance of underground coal mine robots based on FDH bounding box algorithm was put forward.A kinematic model of coal mine underground robot was built,and the robot's motion state was controlled by controlling the acceleration of each wheel.The FDH bounding box algorithm was used to construct an FDH binary tree,and the point-triangle collision detection method was used to accurately calculate the distance between the basic geometric elements of the robot and the obstacle,and then determine whether there was a collision between the two.After eliminating obstacles without collisions,a one-fifth degree polynomial algorithm was used to plan the robot's movement trajectory,and the lateral acceleration of the robot was obtained.The minimum safe distance for the robot to avoid obstacles was determined based on the displacement and lateral acceleration.The experimental results showed that using this method for obstacle avoidance minimum safe distance control,the robot could successfully avoid obstacles in narrow spaces of simple or complex scenes,and reach the endpoint smoothly and smoothly,and the safety distance between the robot and the obstacle was minimized in the planned obstacle avoidance trajectory.

关 键 词：FDH包围盒 煤矿井下机器人 避障 最小安全距离 

分 类 号：TD67[矿业工程—矿山机电]