摘要
针对矿井非结构化、形状狭长的地形结构以及传统BRRT算法规划路径曲折、转折点较多等路径质量较差问题,提出一种基于B样条-APF-BRRT算法的矿井救援机器人路径规划方法。首先根据BRRT路径中产生的目标点和矿井环境中障碍物信息,引入APF目标引力的思想,构建人工势场;然后利用Douglas-Peuker算法进行分线段处理,重新提取关键节点;最后使用B样条函数进行光滑拟合获得路径,减少了APF-BRRT算法所得路径的转折点和长度。对B样条-APF-BRRT算法进行实验,结果表明改进算法所获路径转折点和长度都明显优于BRRT算法,在矿井狭窄巷道中,相对于BRRT算法,B样条-APF-BRRT方法产生的路径更加平滑,转折次数减少到9次,路径长度减少了7.73%。
To improve the poor path quality such as unstructured mine,long and narrow ground structure and traditional BRRT algorithm,a path planning method for a mine rescue robot based on the B-spline APF-BRRT algorithm is proposed.Firstly,according to the target points generated with the BRRT algorithm and the information on obstacles in the mine environment,the APF target gravity is used to construct the artificial potential field.Then the Douglas-Peuker algorithm is used for line segment processing to extract key nodes.Finally,the B-spline function is used to obtain the smooth fitting path,which reduces the number of turning points and the length of path obtained with the APF-BRRT algorithm.The experimental results on the B-spline-APF-BRRT algorithm show that the path's number of turning points and its length obtained with the improved algorithm are obviously better than those obtained with the BRRT algorithm.Compared with the BRRT algorithm,the path generated with the B-spline-APFBRRT algorithm is smoother in a narrow mine tunnel,the number of turning points is reduced to 9,and the path length is reduced by 7.73%.
作者
姜媛媛
李宏伟
路子佩
JIANG Yuanyuan;LI Hongwei;LU Zipei(School of Electrical and Information Engineering,Anhui University of Science and Technology,Huainan 232000,Anhui,China;Institute of Environmental Friendly Materials and Occupational Health,Anhui University of Science and Technology,Wuhu 241003,Anhui,China)
出处
《机械科学与技术》
CSCD
北大核心
2023年第11期1929-1936,共8页
Mechanical Science and Technology for Aerospace Engineering
基金
安徽省重点研究与开发计划(202104g01020012)
安徽理工大学环境友好材料与职业健康研究院研发专项(ALW2020YF1)。
