面向煤矿井下局部复杂空间的机器人三维路径规划方法
发布时间：2019-04-25 17:02
【摘要】：自动机器人逐渐开始应用于井下无人或少人煤炭开采、危险探测和救灾过程中。根据井下局部复杂空间比较小而且密闭,障碍物分布复杂,地面不平整的特点,提出了一种基于混合蚁群-蜂群算法的井下局部复杂空间机器人三维路径规划方法。所提出的井下局部复杂空间机器人三维路径规划方法具有产生初始可行路径简单,探索新的可行路径能力强的特点,可有效解决蚁群路径规划算法可能过早陷入局部最优解,人工蜂群算法迭代次数过多的问题。对所规划的三维折线路径采用了B-spline插值方法进行了曲线化拟合,可产生出井下机器人最优的连续平滑路径,更有利于机器人平稳行进。仿真结果表明:采用所提出的基于混合蚁群-蜂群算法的井下局部复杂空间机器人三维路径规划方法,机器人可有效对在井下局部复杂空间进行三维路径规划。
[Abstract]:Automatic robots gradually begin to be used in underground coal mining, hazard detection and disaster relief. According to the characteristics of small and closed local complex space, complex distribution of obstacles and uneven ground, a three-dimensional path planning method based on hybrid ant colony-colony algorithm for robot in underground local complex space is proposed. The three-dimensional path planning method proposed in this paper has the advantages of simple initial feasible path and strong ability to explore new feasible path, which can effectively solve the problem that ant colony path planning algorithm may fall into local optimal solution prematurely. The problem of too many iterations of artificial bee colony algorithm. The B-spline interpolation method is used to curve the planned 3-D broken line path, which can produce the optimal continuous smooth path of the underground robot, which is more conducive to the smooth movement of the robot. The simulation results show that the three-dimensional path planning method based on hybrid ant colony-swarm algorithm for robot in underground local complex space can effectively carry out three-dimensional path planning in underground local complex space.
【作者单位】： 北京交通大学电子信息工程学院;
【基金】：国家重点研发计划专项资助项目(2016YFC0801806) 国家自然科学基金资助项目(51474015,51274018)
【分类号】：TP18;TP242
[Abstract]:Automatic robots gradually begin to be used in underground coal mining, hazard detection and disaster relief. According to the characteristics of small and closed local complex space, complex distribution of obstacles and uneven ground, a three-dimensional path planning method based on hybrid ant colony-colony algorithm for robot in underground local complex space is proposed. The three-dimensional path planning method proposed in this paper has the advantages of simple initial feasible path and strong ability to explore new feasible path, which can effectively solve the problem that ant colony path planning algorithm may fall into local optimal solution prematurely. The problem of too many iterations of artificial bee colony algorithm. The B-spline interpolation method is used to curve the planned 3-D broken line path, which can produce the optimal continuous smooth path of the underground robot, which is more conducive to the smooth movement of the robot. The simulation results show that the three-dimensional path planning method based on hybrid ant colony-swarm algorithm for robot in underground local complex space can effectively carry out three-dimensional path planning in underground local complex space.
【作者单位】： 北京交通大学电子信息工程学院;
【基金】：国家重点研发计划专项资助项目(2016YFC0801806) 国家自然科学基金资助项目(51474015,51274018)
【分类号】：TP18;TP242
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