基于改进蚁群算法的煤矿巡检机器人路径规划  

Path Planning of Coal Mine Inspection Robot Based on Improved Ant Colony Algorithm

作　　者：孙强[1] 孙霞[1] Sun Qiang;Sun Xia(College of Electrical and Information Engineering,Anhui University of Science and Technology,Huainan 232000,China)

机构地区：[1]安徽理工大学电气与信息工程学院,安徽淮南232000

出　　处：《煤矿机械》2025年第4期199-202,共4页Coal Mine Machinery

基　　金：国家自然科学基金项目(51874010);安徽省质量工程项目(2020xsxx kc142)。

摘　　要：机器人巡检是保证煤矿开采过程安全的重要措施。针对目前煤矿用机器人巡检时采用固定步长和串行方式生成巡检路径效率低、路径长等问题,从优化算法的启发函数和信息素挥发系数入手,提出了一种基于改进蚁群算法的路径规划方法。仿真结果表明,在保证有效躲避障碍物的前提下,改进算法相对于传统算法,平均迭代次数减少31,收敛速度更快;平均路径长度减少2.24,巡检路径更短;平均拐点数量减少7,路径更加平滑。该方法规划出的路径性能更佳。Robot inspection is an important measure to ensure the safety of the coal mining process.In view of the problems of low efficiency and long path in the current inspection of coal mine robots which the fixed step size and serial mode are used to generate the inspection path,from the optimization of heuristic function and pheromone volatilization coefficient of the algorithm,a path planning method based on improved ant colony algorithm was proposed.The simulation results show that the improved algorithm is reduced by 31 times and the convergence speed is faster than that of the traditional algorithm under the premise of ensuring effective obstacle avoidance.The average path length is reduced by 2.24,and the inspection path is shorter.The average number of inflection points is reduced by 7,and makes the path smoother.The path performance of this method is better.

关 键 词：煤矿巡检机器人 改进蚁群算法 路径规划 栅格地图 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TD67[自动化与计算机技术—控制科学与工程]