【摘要】：自動(dòng)機(jī)器人逐漸開始應(yīng)用于井下無(wú)人或少人煤炭開采、危險(xiǎn)探測(cè)和救災(zāi)過(guò)程中。根據(jù)井下局部復(fù)雜空間比較小而且密閉,障礙物分布復(fù)雜,地面不平整的特點(diǎn),提出了一種基于混合蟻群-蜂群算法的井下局部復(fù)雜空間機(jī)器人三維路徑規(guī)劃方法。所提出的井下局部復(fù)雜空間機(jī)器人三維路徑規(guī)劃方法具有產(chǎn)生初始可行路徑簡(jiǎn)單,探索新的可行路徑能力強(qiáng)的特點(diǎn),可有效解決蟻群路徑規(guī)劃算法可能過(guò)早陷入局部最優(yōu)解,人工蜂群算法迭代次數(shù)過(guò)多的問(wèn)題。對(duì)所規(guī)劃的三維折線路徑采用了B-spline插值方法進(jìn)行了曲線化擬合,可產(chǎn)生出井下機(jī)器人最優(yōu)的連續(xù)平滑路徑,更有利于機(jī)器人平穩(wěn)行進(jìn)。仿真結(jié)果表明:采用所提出的基于混合蟻群-蜂群算法的井下局部復(fù)雜空間機(jī)器人三維路徑規(guī)劃方法,機(jī)器人可有效對(duì)在井下局部復(fù)雜空間進(jìn)行三維路徑規(guī)劃。
[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.
【作者單位】： 北京交通大學(xué)電子信息工程學(xué)院;
【基金】：國(guó)家重點(diǎn)研發(fā)計(jì)劃專項(xiàng)資助項(xiàng)目(2016YFC0801806) 國(guó)家自然科學(xué)基金資助項(xiàng)目(51474015,51274018)
【分類號(hào)】：TP18;TP242

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