Optimal path planning algorithm for coal mine search and rescue robot
In view of problem that global optimal path was difficult to determine due to disturbance of obstacle interval in process of path planning for coal mine search and rescue robot, optimal path planning algorithm for coal mine search and rescue robot based on gradient-coordinate rotation method was pro...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | zho |
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Editorial Department of Industry and Mine Automation
2018-10-01
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| Series: | Gong-kuang zidonghua |
| Subjects: | |
| Online Access: | http://www.gkzdh.cn/article/doi/10.13272/j.issn.1671-251x.2018030015 |
| _version_ | 1827988486397886464 |
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| author | JIN Zujin CHENG Gang GUO Feng WEI Haora |
| author_facet | JIN Zujin CHENG Gang GUO Feng WEI Haora |
| author_sort | JIN Zujin |
| collection | DOAJ |
| description | In view of problem that global optimal path was difficult to determine due to disturbance of obstacle interval in process of path planning for coal mine search and rescue robot, optimal path planning algorithm for coal mine search and rescue robot based on gradient-coordinate rotation method was proposed. The robot first moves according to gradient-coordinate rotation method, then performs local path optimization according to existing motion path, and makes feasibility judgment on the planned local optimal path until there is no obstacle interval in the path. The simulation results show that the algorithm can make the coal mine search and rescue robot accurately plan the global optimal path from starting point to target point under the premise of avoiding obstacles, so as to improve rationality and efficiency of robot motion path planning. |
| first_indexed | 2024-04-10T00:04:24Z |
| format | Article |
| id | doaj.art-590128bb2f5748fd8f7ff3364b87aff5 |
| institution | Directory Open Access Journal |
| issn | 1671-251X |
| language | zho |
| last_indexed | 2024-04-10T00:04:24Z |
| publishDate | 2018-10-01 |
| publisher | Editorial Department of Industry and Mine Automation |
| record_format | Article |
| series | Gong-kuang zidonghua |
| spelling | doaj.art-590128bb2f5748fd8f7ff3364b87aff52023-03-17T01:19:03ZzhoEditorial Department of Industry and Mine AutomationGong-kuang zidonghua1671-251X2018-10-014410242810.13272/j.issn.1671-251x.2018030015Optimal path planning algorithm for coal mine search and rescue robotJIN ZujinCHENG GangGUO FengWEI HaoraIn view of problem that global optimal path was difficult to determine due to disturbance of obstacle interval in process of path planning for coal mine search and rescue robot, optimal path planning algorithm for coal mine search and rescue robot based on gradient-coordinate rotation method was proposed. The robot first moves according to gradient-coordinate rotation method, then performs local path optimization according to existing motion path, and makes feasibility judgment on the planned local optimal path until there is no obstacle interval in the path. The simulation results show that the algorithm can make the coal mine search and rescue robot accurately plan the global optimal path from starting point to target point under the premise of avoiding obstacles, so as to improve rationality and efficiency of robot motion path planning.http://www.gkzdh.cn/article/doi/10.13272/j.issn.1671-251x.2018030015coal mine search and rescue robotoptimal path planninggradient-coordinate rotation methodglobal optimal pathlocal path optimizatio |
| spellingShingle | JIN Zujin CHENG Gang GUO Feng WEI Haora Optimal path planning algorithm for coal mine search and rescue robot Gong-kuang zidonghua coal mine search and rescue robot optimal path planning gradient-coordinate rotation method global optimal path local path optimizatio |
| title | Optimal path planning algorithm for coal mine search and rescue robot |
| title_full | Optimal path planning algorithm for coal mine search and rescue robot |
| title_fullStr | Optimal path planning algorithm for coal mine search and rescue robot |
| title_full_unstemmed | Optimal path planning algorithm for coal mine search and rescue robot |
| title_short | Optimal path planning algorithm for coal mine search and rescue robot |
| title_sort | optimal path planning algorithm for coal mine search and rescue robot |
| topic | coal mine search and rescue robot optimal path planning gradient-coordinate rotation method global optimal path local path optimizatio |
| url | http://www.gkzdh.cn/article/doi/10.13272/j.issn.1671-251x.2018030015 |
| work_keys_str_mv | AT jinzujin optimalpathplanningalgorithmforcoalminesearchandrescuerobot AT chenggang optimalpathplanningalgorithmforcoalminesearchandrescuerobot AT guofeng optimalpathplanningalgorithmforcoalminesearchandrescuerobot AT weihaora optimalpathplanningalgorithmforcoalminesearchandrescuerobot |