煤矿救援机器人路径平滑算法研究
Research on path smoothing algorithm of coal mine rescue robot
【索引】陶德俊,姜媛媛,刘延彬,等.煤矿救援机器人路径平滑算法研究[J].工矿千亿国际app下载,2019,45(10):49-54.
【Reference】TAO Dejun,JIANG Yuanyuan,LIU Yanbin,et al.Research on path smoothing algorithm of coal mine rescue robot[J].Industry and Mine Automation,2019,45(10):49-54.
【DOI】10.13272/j.issn.1671-251x.2019050069
【作者】 陶德俊1,姜媛媛1,刘延彬1,辛元芳1,罗俊2
【Author】 TAO Dejun1,JIANG Yuanyuan1,LIU Yanbin1,XIN Yuanfang1,LUO Jun2
【作者机构】1.安徽理工大学 电气与信息工程学院, 安徽 淮南232001;2.国网江苏省连云港电力分公司, 江苏 连云港222002
【Unit】1.School of Electrical and Information Engineering, Anhui University of Science and Technology,Huainan 232001, China;2.State Grid Jiangsu Lianyungang Power Branch, Lianyungang 222002, China
【摘要】针对煤矿救援机器人利用A*算法规划出来的路径存在转折次数多和路径不够平滑等问题,提出了一种基于改进A*算法的煤矿救援机器人路径平滑算法。首先利用Douglas-Peucker(D-P)算法对A*算法产生的全段路径进行处理,剔除路径中的冗余节点,提取出若干路径节点作为关键节点,解决了A*算法路径冗余节点多、路径转折次数多的问题;然后利用三次样条函数对基于关键节点的整段路径进行拟合处理,得到一条平滑的路径,有效缩短了路径长度。仿真实验结果表明,该算法通用性很强,虽然规划时间与A*算法相比略有增加,但规划出来的路径转折次数少,路径长度短,且路径质量高于遗传平滑算法。
【Abstract】In view of problems that path planning of the coal mine rescue robot planned by A* algorithm has many path turning points and the path is not smooth enough, a path smoothing algorithm of coal mine rescue robot based on improved A* algorithm was proposed. Firstly, the Douglas-Peucker (D-P) algorithm is used to process the whole path generated by A* algorithm, and eliminate redundant nodes in the path, and extracts several path nodes as key nodes, which solves the problem that there are many redundant nodes and a large number of path turning points of the A* algorithm. Then, the whole path based on the key nodes is fitted by cubic path function, and a smooth path is obtained, which can effectively shorten the path length. The simulation results show that the algorithm has strong universality, although the planning time is slightly increased compared with the A* algorithm, but the planned path turns are few, the path length is short, and the path quality is relatively better than that of the genetic smoothing algorithm.
【关键词】 煤矿救援机器人; 路径规划; 路径平滑; A*算法; 遗传平滑算法; 关键节点提取; Douglas-Peucker算法; 三次样条函数
【Keywords】coal mine rescue robot; path planning; path smoothing; A* algorithm; genetic smoothing algorithm; key node extraction; Douglas-Peucker algorithm; cubic spline function
【文献出处】工矿千亿国际app下载,2019年10期
【基金】国家自然科学基金项目(51604011);安徽省自然科学基金项目(1708085QF135);安徽省高校省级自然科学研究项目(KJ2017A077);安徽省高校优秀青年骨干人才国内外访学研修项目(gxfx2017025);安徽省高校自然科学研究项目(KJ2018A0759,KJ2019ZD12)。
【分类号】TD77
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