太原理工大学学报2025，Vol.56Issue(3)：559-566,8.DOI:10.16355/j.tyut.1007-9432.20230816
基于改进A*算法的矿用巡检机器人路径规划
Improved A*-based Path Planning for Mining Inspection Robots
摘要
Abstract
[Purposes]Aiming at the unstructured environment and narrow local passable area of coal mine underground,and the problems of long search time,multiple search nodes,many redundant nodes in the path,and poor road strength smoothness in the traditional A* algorithm for planning the path,a path planning algorithm for mining inspection robot based on the improved A* algorithm is pro-posed.[Methods]First,the exponential function of predicted consumption and the sum of obstacle coverage were introduced into the heuristic function of traditional A* algorithm to improve the search efficiency and shorten the search time;Second,the traditional 8-neighborhood search was improved to 9-neighborhood search to avoid useless search and reduce the number of searching nodes;Then the re-dundant nodes in the path were rejected by the Floyd algorithm;And finally,the path smoothing task was accomplished by using the improved 3rd-order Bessel curve.[Results]The results show that compared with the traditional A* algorithm,the improved A* algorithm shortens the search time by 44.1%,63.8%,and 84.8%,and reduces the search nodes by 31.6%,47.9%,and 71%for specific 20×20,30×30,and 40×40 raster maps,respectively.The proposed path smoothing algorithm is able to reduce the number of path nodes and improve the path smoothing,which makes it more suit-able for the mining inspection robot path planning.关键词
矿用巡检机器人/路径规划/改进A*算法/Floyd算法/贝塞尔曲线Key words
mining inspection robot/path planning/improved A* algorithm/Floyd algorithm/Bezier curve分类
信息技术与安全科学引用本文复制引用
张辉,苏国用,赵东洋,杨宇豪,何凯..基于改进A*算法的矿用巡检机器人路径规划[J].太原理工大学学报,2025,56(3):559-566,8.基金项目
安徽省高等学校科学研究项目(2022AH050834) （2022AH050834）
安徽理工大学引进人才科研启动基金项目(2022yjrc61) （2022yjrc61）
安徽理工大学矿山智能技术与装备省部共建协同创新中心开放基金项目(CICJMITE202206) （CICJMITE202206）
Open Fund of State Key Laboratory of Mining Response and Disaster Prevention and Control in Deep Coal Mines(SKLMRDPC22KF24) （SKLMRDPC22KF24）
