Intelligent path planning method for fire-fighting robot

Abstract

The invention relates to an intelligent path planning method for a fire-fighting robot. The method comprises the steps: performing preprocessing according to space environment information of a fire scene where the fire-fighting robot is located; constructing a concave-convex polygonal obstacle fire scene space environment model according to an extended MAKLINK graph theory; planning an initial path by adopting a Dijkstra algorithm according to the stationing point and the fire extinguishing point of the fire-fighting robot; and on the basis of the fire scene space environment model and the initial path, introducing a self-adaptive dynamic adjustment strategy of pheromones and heuristic values, performing iterative search on path nodes in an ant transfer process by utilizing an improved antcolony algorithm, and finally obtaining an optimal planned path. According to the method, the advantages of an extended MAKLINK graph theory and an improved ant colony algorithm are combined, optimalpath planning can be achieved in a complex fire scene space environment containing concave-convex polygonal obstacles, the algorithm convergence speed is high, and the path planning capacity is high;in addition, the feasibility and effectiveness of the provided technical scheme are verified through a simulation test.

Description

Technical field[0001]The invention relates to the field of path planning of a fire-fighting robot, in particular to an intelligent path planning method of a fire-fighting robot.Background technique[0002]As a special fire-fighting equipment, fire-fighting robots can enter the fire scenes that are not easily accessible by firefighters, such as high-risk and harsh environments, to perform various fire detection tasks, and perform corresponding fire-fighting rescue operations. The use of fire-fighting robots can significantly improve the ability of firefighting departments to extinguish major malignant fires, and play an important role in reducing national property losses and firefighters' casualties. In recent years, with the rapid development of artificial intelligence, information processing, intelligent control and other professional technologies, firefighting robots have shown the development trend of automation and intelligence, and gradually become a robot integrated system capab...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide an intelligent path planning method for a fire-fighting robot to overcome the defects in the above-mentioned prior art that the computing resource consumption is large, the self-regulation ability is poor, and the time-consuming shortest path planning cannot be guaranteed.

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