基于改进人工势场的矿井导航装置路径规划

Path planning based on the improved artificial potential field of coal mine dynamic target navigation

矿井中障碍物密集且移动,这给煤矿井下导航装置路径规划造成了极大的困难。结合原有的传统人工势场法,通过将相对速度场和相对加速度场引入势场函数中,改进引力势场函数,使矿井机器人、无人机等导航装置在路径规划中,充分考虑导航装置自身的移动信息,使躲避移动障碍物成为可能,并且避免动目标陷入局部极小点;针对路径规划过程中路径最优化的问题,提出了"全局势场线"的概念,使导航装置在局部路径规划的同时,充分考虑到全局的规划信息,避免局部规划与全局规划冲突,从而选取最优的路径进行导航。提出的方法通过仿真和地面模拟测试,结果证明,该方法可以帮助导航装置在煤矿井下成功躲避移动障碍物,避免与移动障碍物发生碰撞导致路径规划失败,同时处理复杂多变的环境,优化避障路径,最终到达目标位置,完成导航装置的路径规划任务。

The mine obstacles is intensive and moving it caused great difficulties in devices path planning based on the original traditional artificial potential field method. Through the introduction of the relative velocity and relative acceleration field potential field function, it improved the gravitational potential field function, making the mine robots, unmanned aerial navigation devices in the path planning, mading it possible to avoid moving obstacles, and moving target in a local minimum point; For problem of path optimization, it put forward the concept of 'total situation field line', making navigation devices in the local path planning at the same time, avoiding conflict of global planning and local planning, so as to select the optimal path for navigation. Method through the simulation and the ground simulation test, the results show that the method can help navigation devices to avoid moving obstacles to success in the coal mine, to avoid collision with moving obstacles lead to the failure path planning, finally it reaches the target location, navigation devices path planning task. © 2016, Editorial Office of Journal of China Coal Society. All right reserved.