Path planning method for multi-robots based on ad Hoc network

A multi-robot and path planning technology, applied in network topology, road network navigator, electrical components, etc., can solve the problems of limited information collection ability and limited information, and achieve the goal of reducing communication burden, solving resource allocation, and better resource allocation Effect

Active Publication Date: 2011-12-21
CHONGQING UNIV OF POSTS & TELECOMM
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AI Technical Summary

Problems solved by technology

The information that a single mobile robot can obtain is limited, and the tasks

Method used

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  • Path planning method for multi-robots based on ad Hoc network
  • Path planning method for multi-robots based on ad Hoc network
  • Path planning method for multi-robots based on ad Hoc network

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Embodiment Construction

[0035] The preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings; it should be understood that the preferred embodiments are only for illustrating the present invention, rather than limiting the protection scope of the present invention.

[0036] The multi-robot path planning method based on the Ad Hoc network provided by the invention comprises the following steps:

[0037] Step 1: Obtain the geographic information of the robot's environment, initialize the working state of each robot, and set the robot's preset search path. The environment of the robot is a coal mine;

[0038] Step 2: During the forward search process of the robot, the robot detects the environmental information through the sensor, measures the coordinate position of the surrounding obstacles, and obtains the environmental information in the current state. The sensors of the robot include sonar, camera, gas sensor, temperature One or mo...

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Abstract

The invention discloses a multi-robot path planning method based on an Ad-Hoc network and relates to the multi-robot path planning method which can be applied to coal mine environments, is based on the Ad-Hoc network and belongs to intelligent control methods. In the method, an ant colony algorithm serves as a core, a complicated environment of a coal mine after a mine disaster is subjected to path planning, an optimum path is searched, and the aim of rescuing is fulfilled. Communication is realized through the Ad-Hoc network, and the problems of lacking of communication and indirectness in communication of the ant colony algorithm are solved. By adoption of the multi-robot path planning method, clear information data can be provided for rescuing operation, so rescuing can be better finished.

Description

technical field [0001] The invention relates to an intelligent control method, in particular to a multi-robot path planning method that can be used in underground coal mines. Background technique [0002] The coal industry is the basic industry of my country's national economy, "coal's basic position in my country's energy development pattern is solid, and the prospect is broad." Since the founding of the People's Republic of China 60 years ago, coal, as the main energy source in our country, accounts for about 70% of the primary energy consumption structure. my country's pattern of using coal as the main energy source will not change fundamentally in the next 50 years. With the rapid growth of my country's national economy and the continuous improvement of people's living standards, the country's demand for energy will increase significantly. According to the scientific investigation and analysis of the Coal Industry Development Research Consulting Center, the national co...

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Application Information

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IPC IPC(8): G01C21/34H04W84/18
Inventor 罗元张毅李艳乐李敏胡章芳徐晓东
Owner CHONGQING UNIV OF POSTS & TELECOMM
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