煤矿探测机器人空间建模分析及避障路径规划

摘要

为了使煤矿探测机器人在路径规划过程中更好地理解环境信息,提出了一种栅格拓扑地图作为表达煤矿空间中局部环境障碍物地图模型,使其既能表达度量信息又能体现位置关系信息.在该地图模型中,利用基于主动生长元的栅格Voronoi图可行路径网络生成方法,机器人可以规划出一条既可以迅速到达目标,又可以保证机器人避碰的行驶路径.试验表明,该地图模型可以使煤矿探测机器人迅速建立起煤矿空间障碍物地图,并能够以较高的规划效率解决在局部路径规划中常见的规划陷阱问题.%In order to make a mine detection robot better understand the environment information in the access planning process,a grid to-pologic map was provided to be a map model to express the local environment obstacle in the mine space and could express the metric information and show the location relationship information.In the map model,based on active growth element,a feasible access network generation method of the grid Voronoi map applied,the robot could not only plan an access to rapidly reach the target,but also could ensure a collision avoidance driving access of the robot.The experiment showed that the map model could make the mine detection robot rapidly establish the obstacle map of mine space and the conventional planning trap problem in the local access planning which could be solved with a high planning efficiency.