太原理工大学学报2024，Vol.55Issue(2)：231-241,11.DOI:10.16355/j.tyut.1007-9432.20230598
基于改进A*算法的矿用机器人救援路径规划及仿真分析
Rescue Path Planning and Simulation Analysis of Mining Robot Based on Improved A* Algorithm
摘要
Abstract
[Purposes]The situation of post-disaster site of coal mine underground is complex.Aim-ing at the fact that traditional A* algorithm-based coal mine robot rescue path planning bears path insecuri-ty,low efficiency,and other problems,and by combining with the raster map and the characteristics that the rescue robot can move along any direction,multi-faceted improvement of the traditional A* algorithm is realized.[Methods]First,the concept of robot size superimposed to obstacles is introduced to en-sure the safety of the path.Second,the computational complexity is reduced by optimising the heuris-tic function to reduce the number of extensions that deviate from the optimal path nodes,and to reduce the redundant nodes and path transitions.Finally,a dynamic adjustment algorithm is used to round the corners of path turns,and the resulting path is smoothed to improve the operability of path.The optimised path with smaller path cost,shorter time consumption,and fewer turns is finally obtained.Based on the improved A* algorithm,the simulation test of rescue robot path planning under different sizes and different obstacle coverages is carried out by using MATLAB.[Findings]Compared with the traditional A* algorithm,the improved A* algorithm in rugged environment maps reduces the searching nodes by 26.51％,the computation time by 80.42％,the path length by 31.85％,and the number of turns by 44.44％,which improves the search efficiency and smoothness of the path.[Con-clusions]The improved A* algorithm provides a theoretical basis for the rescue work of coal mine ro-bots under complex working conditions.关键词
A*算法优化/煤矿救援机器人/路径规划/启发函数/动态调整算法Key words
A* algorithm optimization/coal mine rescue robot/path planning/heuristic functions/dynamically adjustment algorithm分类
信息技术与安全科学引用本文复制引用
段碧英,柴肇云,辛子朋,闫珂,肖畅,刘向御,李天宇,刘新雨..基于改进A*算法的矿用机器人救援路径规划及仿真分析[J].太原理工大学学报,2024,55(2):231-241,11.基金项目
国家自然科学基金资助项目(52274091,51974193) （52274091,51974193）
