计算机工程2025，Vol.51Issue(11)：366-376,11.DOI:10.19678/j.issn.1000-3428.0069500
基于MA-PPA的露天煤矿智能巡视机器人路径规划研究
Research on Path Planning of Intelligent Inspection Robot in Open-pit Coal Mine Based on Memristor Array and Physarum Polycephalum Algorithm
摘要
Abstract
Autonomous mobile robots employ intelligent algorithms for path planning in complex environments.However,the"memory wall"problem in traditional computers increases the running time of the algorithms substantially.To address this problem,this study proposes path planning for intelligent inspection robots in open-pit coal mines based on a Memristor Array and Physarum Polycephalum Algorithm(MA-PPA).A memristor device can reduce the running time of an algorithm because of its"memory and computation integration".The Physarum polycephalum algorithm can self-organize and efficiently locate the shortest path.By leveraging the advantages of both and based on the positive feedback property of the memristor resistance varying with current,the Physarum polycephalum algorithm is implemented for path planning in a two-dimensional global environment using a memristor array.Parallel computing is applied to the Physarum polycephalum algorithm on a memristor array,which significantly reduces the running time of the algorithm.Experimental results show that compared with traditional bio-inspired algorithms,the proposed algorithm reduces time complexity and finds the shortest path with fewer turns.关键词
忆阻器阵列/生物启发/存算一体/多头绒泡菌算法/并行计算/路径规划/栅格法Key words
Memristor Array(MA)/biological inspired/memory and computation integration/Physarum Polycephalum Algorithm(PPA)/parallel computing/path planning/grid method分类
计算机与自动化引用本文复制引用
祁永强,胡杞澍..基于MA-PPA的露天煤矿智能巡视机器人路径规划研究[J].计算机工程,2025,51(11):366-376,11.基金项目
国家自然科学基金(61304088) （61304088）
中国矿业大学融合创新培育专项(2023ZDPYRH11). （2023ZDPYRH11）
