栅格环境地图启发下煤矿井环境管路安装机器人协同控制

Collaborative Control of Pipeline Installation Robot in Coal Mine Environment Inspired by Grid Environment Map

为了有效解决煤矿井下管路安装机器人在不确定环境下,协同控制效果不理想的问题,提出一种煤矿井下管路安装机器人协同自动控制方法。将井下环境划分为栅格,并构建栅格环境地图。引入启发函数来估计从当前位置到目标位置的预测距离;基于栅格环境地图和启发函数,使用蚁群算法进行路径规划。为每个栅格设置信息素数量,通过信息素和启发函数的权衡,多次迭代调整参数,在栅格之间选择最优路径。机器人可以按照该路径协同地进行自主导航和管路安装工作。实验结果表明,所提方法在最优路径长度以及控制时间等方面均有明显改善,说明了所提方法在机器人并行协同自动控制方面的优越性。

In order to effectively solve the problem of unsatisfactory collaborative control effect of coal mine underground pipeline installation robots in complex environments,a parallel collaborative automatic control method for coal mine underground pipeline installation robots is proposed.Divide the underground environment into grids and construct a grid environment map.Introducing a heuristic function to estimate the predicted distance from the current position to the target position.Based on grid environment map and heuristic function,ant colony optimization algorithms is used for path planning.Set the number of pheromone for each grid,adjust the parameters repeatedly through the trade-off between pheromone and heuristic function,and select the optimal path between grids.Robots can perform autonomous navigation and pipeline installation work in parallel and collaboratively according to this path.The experimental results show that the proposed method has significant improvements in terms of optimal path length and control time,indicating its superiority in parallel collaborative automatic control of robots.