融合目标导向和跳跃点改进A算法的煤矿巡检机器人路径规划

Path Planning of Coal Mine Inspection Robot by Integrating Goal Orientation and Jumping Point Improved A Algorithm

针对煤矿巡检机器人采用A算法规划路径效率低、安全性差等问题,提出了一种融合目标导向和跳跃点改进A算法的煤矿巡检机器人路径规划方法。首先,在传统A算法中引入碰撞约束机制,改进节点搜索条件,使得获得的节点与周围障碍物节点保持一定的安全距离;其次,通过融合目标导向和跳跃点优化A算法,剔除路径搜索过程中无关扩展节点的搜索,以提升路径搜索效率;最后,利用分层平滑优化策略消除路径中的冗余点和转折点,减少路径长度并提高路径平滑性。仿真结果表明,该算法能够有效提升煤矿巡检机器人的工作效率和安全性。

Aiming at the problems of low efficiency and poor safety of path planning of coal mine inspection robot using A algorithm,a path planning method of coal mine inspection robot by integrating goal orientation and jumping point improved A algorithm was proposed.Firstly,the collision constraint mechanism is introduced into the traditional A algorithm to improve the node search conditions,so that the obtained nodes can maintain a certain safe distance from the surrounding obstacle nodes.Secondly,by integrating the goal orientation and jumping point optimization A algorithm,the search of unrelated expansion nodes in the path search process is eliminated to improve the path search efficiency.Finally,the hierarchical smoothing optimization strategy is used to eliminate redundant points and turning points in the path,reduce the length of the path and improve the smoothness of the path.The simulation results show that this algorithm can effectively improve the working efficiency and safety of coal mine inspection robot.