面向煤矿井下局部复杂空间的机器人三维路径规划方法

摘要

自动机器人逐渐开始应用于井下无人或少人煤炭开采、危险探测和救灾过程中.根据井下局部复杂空间比较小而且密闭,障碍物分布复杂,地面不平整的特点,提出了一种基于混合蚁群-蜂群算法的井下局部复杂空间机器人三维路径规划方法.所提出的井下局部复杂空间机器人三维路径规划方法具有产生初始可行路径简单,探索新的可行路径能力强的特点,可有效解决蚁群路径规划算法可能过早陷入局部最优解,人工蜂群算法迭代次数过多的问题.对所规划的三维折线路径采用了B-spline插值方法进行了曲线化拟合,可产生出井下机器人最优的连续平滑路径,更有利于机器人平稳行进.仿真结果表明:采用所提出的基于混合蚁群-蜂群算法的井下局部复杂空间机器人三维路径规划方法,机器人可有效对在井下局部复杂空间进行三维路径规划.%The automatic robots are gradually applied in the process of unmanned coal mining,hazard detection and disaster relief.According to the characteristics of small confined space,complex obstacle distribution and uneven floor in underground coal mine,a three-dimensional (3D) path planning method for robot in underground local complex space is proposed based on hybrid ant colony and artificial bee colony algorithm.The proposed method can generate the initial paths simply and extend the search range of new feasible path,which effectively solves the problem that ant colony algorithm may trap into the local optimal solution and the iteration times of the artificial bee colony algorithm may be numerous.The B-spline interpolation is applied to the 3D broken path line to generate the optimal continuous smooth path,which is beneficial for robot to travel smoothly.Simulation results show that the robot can plan its path effectively in underground local complex space with the proposed path planning method based on hybrid ant colony and artificial bee colony algorithm.