摘要
由于煤矿机器人的防爆安全等级尚未到达ia本质安全,为避免引起灾害事故,煤矿机器人在执行环境探测和救援任务时不能进入瓦斯危险区域,因此,煤矿机器人需要躲避瓦斯危险区域。文章提出煤矿机器人对区域分布的瓦斯气体避障的路径规划方法,运用MAKLINK方法表征煤矿机器人的作业环境网络图,采用蚁群算法优化的Dijkstra算法得到的煤矿机器人作业路径,分别在仅有瓦斯危险区域分布和同时存在瓦斯危险区域分布及障碍物两种情况下进行路径规划实验研究。结果表明,本文提出的方法在满足安全距离和收敛速度条件下实现了最优路径规划,该方法对煤矿机器人快捷安全作业和提高煤矿机器人智能化具有重要意义。
As the explosion-proof safety level of coal mine robot has not yet reached the level of ia intrinsic safety,to avoid disasters,during environmental detection and rescue missions,coal mine robot shall not enter the gas dangerous area,which requires avoiding of gas hazard area. In this paper,the path planning method for coal mine robot obstacle-avoiding in the regional distribution of gas is proposed, which uses MAKLINK method to characterize the working environment of coal mine robot and ant colony optimization Dijkstra algorithm to calculate the operation path. The path planning experiment is carried out under two conditions： gas avoiding and gas- obstacle avoiding. The results show that,the method proposed in this paper can achieve the optimal path planning while satisfying the safe distance and convergence speed.
出处
《煤炭工程》
北大核心
2016年第7期107-110,共4页
Coal Engineering
基金
国家高技术研究发展计划(863计划)项目(2012AA041504)
江苏省前瞻性产学研联合创新资金项目(BY2015024-02)
