摘要
在复杂开采环境下,煤矿智能机器人往往出现移动路径规划不准确、规划效率低和规划延迟等问题。因此,提出了一种巡检路径的动态规划算法,并对传统的动态窗口算法进行了改进。将智能机器人的移速限制空间转换成二维坐标空间,通过膜间通信及内部粒子更新规则来更新粒子,使机器人以最优速度、最佳路径进行巡检。仿真结果表明,这种算法优化了机器人在路径规划过程中的速度限制范围,提高了煤矿智能机器人的工作效率。
In the complex mining environment,coal mine intelligent robot often has problems such as inaccurate mobile path planning,low planning efficiency and planning delay.Therefore,this paper proposes a dynamic planning algorithm of inspection path,and improves the traditional dynamic window algorithm.The speed limited space of the intelligent robot is transformed into a two-dimensional coordinate space,and the particles are updated through the inter membrane communication and internal particle update rules,so that the robot can inspect with the optimal speed and path.The simulation results show that the algorithm optimizes the speed limit range of the robot in the process of path planning,and improves the work efficiency of the intelligent robot in coal mine.
作者
闫萍
YAN Ping(Kailuan Group Co. Ltd., Tangshan 063018, China)
出处
《微型电脑应用》
2022年第1期145-149,共5页
Microcomputer Applications
