基于A-star算法控制的井下搬运系统研究

Research of Coal Mine Handling Control System Based on A-star Algorithm

根据A-star算法原理,采用寻迹方法将井下搬运机车的运动轨迹问题转化为广义坐标系下的运动学方程,通过对运动学模型的推算及离散化,得出系统位置控制参数,基于Matlab对位置误差进行了数值模拟,验证了计算方法的可行性。依据算法控制特点,完成了搬运控制系统的硬件及软件设计,实现了搬运系统的高效率避障,位置准确定位。

According to the principle of A-star algorithm, the motion trajectory problem of the locomotive is turned into kinematics equation under generalized coordinate system based on tracing method. Through the calculation and diseretization of the kinematics model, system position control parameters are concluded. The position error is the numerical simulated based on Matlab, and the feasibility of the calculation method is verified. Based on the algorithm control characteristics, the hardware circuit design and software design of the handling system is finished, which can realize efficient obstacle avoidance and accurate location positioning.