Coal mine rescue robot path planning method based on artificial potential field

Abstract

The invention relates to a coal mine rescue robot path planning method based on an artificial potential field and belongs to a robot path planning method. The coal mine rescue robot path planning method is implemented under the environment that feasible paths exist in a known robot work space, a closed region enclosed by a plurality of lines and used for expressing obstacles in the work space and a connected work space, i.e. any two points. The method comprises the following steps: S-1, establishing a local robot work space repulsion potential field according to a priori map; S-2, establishing a path partial differential equation by the utilization of Quasi-Geodesic method according to the distribution of the repulsion potential field; S-3, solving the path equation to obtain a local path; S-4, processing a local optimum problem if an algorithm is detected to trap in a local optimum; S-5, repeating S-1 to S-4 till a destination point is reached and obtaining an initial path; S-6, optimizing the initial path, reducing the path length and obtaining a final path. The method has the benefits that the more accurate and shorter path can be obtained, and meanwhile, the running time needs not to be too long, so that the rescue time is shortened, and the rescue efficiency is improved.

Description

Technical field [0001] The invention relates to a robot path planning method, in particular to a coal mine disaster relief robot path planning method based on an artificial potential field. Background technique [0002] At present, coal mine accidents occur frequently in our country, which not only cause heavy losses of life and property, but also affect social stability. Searching and rescuing persons in distress is an important task after mining disasters. Traditional search and rescue equipment cannot effectively rescue the trapped persons, and second accidents often lead to casualties of rescue team members. [0003] As a kind of intelligent detection and search and rescue equipment, underground coal mine disaster rescue robots can acquire and send disaster area parameters and survivor information, and can replace people in search and rescue work, thereby reducing the risk of search and rescue personnel. [0004] In recent years, most of the existing disaster relief robots use r...

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to provide a path planning method for coal mine disaster relief robots based on artificial potential fields that can accurately reflect the outline of obstacles and reduce computing time, so as to overcome the shortcomings of traditional artificial potential fields

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