煤矿搜救机器人最优路径规划算法
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摘要
针对煤矿搜救机器人路径规划过程中因受障碍区间的干扰导致全局最优路径难以确定的问题,提出了基于梯度-坐标轮换法的煤矿搜救机器人最优路径规划算法。机器人首先按照梯度-坐标轮换法运动,然后根据已有的运动路径进行局部路径优化,并对所规划的局部最优路径进行可行性判断,直到路径中不存在障碍区间为止。仿真结果表明,该算法能够使煤矿搜救机器人在避开障碍的前提下,准确地规划出从出发点到目标点的全局最优路径,从而提高机器人运动路径规划的合理性和高效性。
In view of problem that global optimal path was difficult to determine due to disturbance of obstacle interval in process of path planning for coal mine search and rescue robot,optimal path planning algorithm for coal mine search and rescue robot based on gradient-coordinate rotation method was proposed.The robot first moves according to gradient-coordinate rotation method,then performs local path optimization according to existing motion path,and makes feasibility judgment on the planned local optimal path until there is no obstacle interval in the path.The simulation results show that the algorithm can make the coal mine search and rescue robot accurately plan the global optimal path from starting point to target point under the premise of avoiding obstacles,so as to improve rationality and efficiency of robot motion path planning.
In view of problem that global optimal path was difficult to determine due to disturbance of obstacle interval in process of path planning for coal mine search and rescue robot,optimal path planning algorithm for coal mine search and rescue robot based on gradient-coordinate rotation method was proposed.The robot first moves according to gradient-coordinate rotation method,then performs local path optimization according to existing motion path,and makes feasibility judgment on the planned local optimal path until there is no obstacle interval in the path.The simulation results show that the algorithm can make the coal mine search and rescue robot accurately plan the global optimal path from starting point to target point under the premise of avoiding obstacles,so as to improve rationality and efficiency of robot motion path planning.
引文
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[2]李雨潭,李猛钢,朱华.煤矿搜救机器人履带式行走机构性能评价体系[J].工程科学学报,2017,39(12):1913-1921.LI Yutan,LI Menggang,ZHU Hua.Performance evaluation system of the tracked walking mechanism of a coal mine rescue robot[J].Chinese Journal of Engineering,2017,39(12):1913-1921.
[3]朱大奇,颜明重.移动机器人路径规划技术综述[J].控制与决策,2010,25(7):961-967.ZHU Daqi,YAN Mingzhong.Survey on technology of mobile robot path planning[J].Control and Decision,2010,25(7):961-967.
[4]张广林,胡小梅,柴剑飞,等.路径规划算法及其应用综述[J].现代机械,2011(5):85-90.ZHANG Guanglin,HU Xiaomei,CHAI Jianfei,et al.Summary of path planning algorithm and its application[J].Modern Machinery,2011(5):85-90.
[5]张国亮.动态环境中移动机器人路径规划研究综述[J].机床与液压,2013,41(1):157-162.ZHANG Guoliang.Survey on path planning for mobile robot under dynamic environment[J].Machine Tool&Hydraulics,2013,41(1):157-162.
[6]马西良,朱华.对瓦斯分布区域避障的煤矿机器人路径规划方法[J].煤炭工程,2016,48(7):107-110.MA Xiliang,ZHU Hua.Path planning method for obstacle-avoiding of coal mine robot in gas hazard area[J].Coal Engineering,2016,48(7):107-110.
[7]赵少林,程杰.基于粒子群并行优化的煤矿井下机器人路径规划[J].计算机测量与控制,2014,22(5):1600-1602.ZHAO Shaolin,CHENG Jie.Coal mine underground robot path planning based on parallel particle swarm optimization[J].Computer Measurement&Control,2014,22(5):1600-1602.
[8]梁昔明,李德生.嵌入共轭梯度法的混合粒子群优化算法[J].小型微型计算机系统,2014,35(4):835-839.LIANG Ximing,LI Desheng.Hybrid PSO algorithm with conjugate gradient methods[J].Journal of Chinese Computer Systems,2014,35(4):835-839.
[9]姚正华,任子晖,陈艳娜.基于人工鱼群算法的煤矿救援机器人路径规划[J].煤矿机械,2014,35(4):59-61.YAO Zhenghua,REN Zihui,CHEN Yanna.Path planning for mine rescue robot based on AFSA[J].Coal Mine Machinery,2014,35(4):59-61.
[10]任艳斐,张军锋.煤矿井下移动机器人路径规划的算法优化[J].煤炭技术,2013,32(7):80-82.REN Yanfei,ZHANG Junfeng.Algorithm optimization of coal mine underground mobile robot path planning[J].Coal Technology,2013,32(7):80-82.
[11]侯媛彬,郝利波.煤矿救援机器人自主避障方法研究[J].煤炭科学技术,2011,39(10):90-92.HOU Yuanbin,HAO Libo.Study on automatic avoiding obstacle method of mine rescue robot based on CERRT algorithm[J].Coal Science and Technology,2011,39(10):90-92.
[12]田子建,高学浩.基于改进人工势场法的救灾机器人路径规划[J].工矿自动化,2016,42(9):37-42.TIAN Zijian,GAO Xuehao.Path planning of rescuing robot based on improved artificial potential field method[J].Industry and Mine Automation,2016,42(9):37-42.
[13]王雄.一种煤矿井下救灾机器人路径规划方法[J].信息技术,2014(4):69-71.WANG Xiong.A method of path planning of coal mine rescue robot[J].Information Technology,2014(4):69-71.
[14]杨俊成,李淑霞,蔡增玉.路径规划算法的研究与发展[J].控制工程,2017,24(7):1473-1480.YANG Juncheng,LI Shuxia,CAI Zengyu.Research and development of path planning algorithm[J].Control Engineering of China,2017,24(7):1473-1480.
[15]杜映峰,陈万米,范彬彬.群智能算法在路径规划中的研究及应用[J].电子测量技术,2016,39(11):65-70.DU Yingfeng,CHEN Wanmi,FAN Binbin.Research and application of swarm intelligence algorithm in path planning[J].Electronic Measurement Technology,2016,39(11):65-70.