巷道搬运机器人自主行走控制方案研究  

Research on Autonomous Walking Control Scheme of Roadway Handling Robot

作　　者：王晟 Wang Sheng(Shanxi Hongsheng Antai coal industry Co.,Ltd.,Lyuliang Shanxi 033300,China)

机构地区：[1]山西宏盛安泰煤业有限公司,山西吕梁033300

出　　处：《机械管理开发》2025年第1期82-84,共3页Mechanical Management and Development

摘　　要：为解决无极绳连续牵引车“最后一公里”问题,设计巷道搬运机器人自主行走控制方案,用于配合无极绳连续牵引车搬运巷道内转载点物料。详细阐述巷道搬运机器人自主行走总体方案,基于栅格法对运行环境进行建模,基于改进的A^(*)算法完成巷道搬运机器人自主行走以及避障控制,最后完成仿真验证。仿真结果表明,设计的巷道搬运机器人自主行走控制方案能够较快的搜索最优路径并具备静态避障能力,降低了工人劳动强度,提升了无极绳连续牵引车的作业效率和作业安全系数。In order to solve the problem of"last 1 km"of continuous tractor with endless rope,the autonomous walking control scheme of roadway handling robot is designed for handling materials at transshipment points in roadway.The overall scheme of autonomous walking of roadway handling robot is designed,the operating environment is modeled based on the grid method,the autonomous walking and obstacle avoidance control of roadway handling robot is completed based on the improved A^(*) algorithm,and finally the simulation verification is completed.The simulation results show that the designed autonomous walking control scheme of the roadway handling robot can search the optimal path quickly and has the static obstacle avoidance ability,which reduces the labor intensity of workers and improves the intelligence level of the endless rope continuous tractor.

关 键 词：巷道搬运机器人 自主行走 栅格法 改进A*算法 静态避障 

分 类 号：TD634[矿业工程—矿山机电] TP242[自动化与计算机技术—检测技术与自动化装置]