基于TSP理论的矿井作业机器人路径规划问题研究

摘要

随着国家对自动化作业的重视,越来越多的矿井开始引入矿井作业机器人进行煤矿的挖掘和开采,但是矿井下环境恶劣,而且大型矿井内部结构复杂,因此井下作业机器人对路径规划能力有很高的要求.本文引入旅行商问题的思想寻求最优运动路径;应用图论相关知识对矿井结构示意图进行分析转化,引入Dijkstra算法解决最短路径问题,并在代价矩阵中添加角度递增函数确定优先权,最后使用离散粒子群算法进行仿真求解,取得了较好的实验效果.%Along with the national attention on automation,more and more of the mine began the introduction of mine robot for coal mining and mining,but mine under harsh environment and large mine complex internal structure,so downhole operation robot on the path planning ability have very high requirements.In this paper,we introduce the idea of traveling salesman problem for finding the optimal motion path;application of graph theory to mine structure schematic diagram analysis transformation,introduced Dijkstra algorithm to solve the shortest path problem and in the cost matrix add angle increasing function to determine the priority,at last,using the discrete particle swarm optimization algorithm is adopted to solve the model and achieved good experimental results.