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Path programming and navigation system based on improved artificial potential field method and method thereof

A path planning, artificial potential field technology, applied in control/regulation systems, two-dimensional position/channel control, vehicle position/route/altitude control, etc. Escape and security effect

Inactive Publication Date: 2016-08-17
CHINA UNIV OF MINING & TECH (BEIJING) +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0011] In order to solve the local minimum point problem of the coal mine disaster relief robot in the artificial potential field method, the present invention provides a coal mine disaster relief robot path planning technology based on the fusion of filling obstacles and disturbance potential fields

Method used

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  • Path programming and navigation system based on improved artificial potential field method and method thereof
  • Path programming and navigation system based on improved artificial potential field method and method thereof
  • Path programming and navigation system based on improved artificial potential field method and method thereof

Examples

Experimental program
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Effect test

Embodiment Construction

[0050] In the traditional artificial potential field function, the total potential field of the environment model is as follows:

[0051] u total =U att + U rep (5)

[0052] When the robot is trapped in a local minimum point during path planning, the disturbance potential field is added to make the robot escape from the local minimum point. The definition of the disturbance potential field is as follows:

[0053]

[0054] Among them, K dis is the disturbance potential field constant; ρ(X, X g ) is the distance from the robot to the target point; ρ a It is the judging distance for whether the robot reaches the target point.

[0055] After introducing the disturbance potential field, when the robot falls into a local minimum point, the total potential field of the environment model is as follows:

[0056] u total =U att + U rep + U dis (7)

[0057] If the disaster relief robot falls into a local minimum point, add a disturbance potential field to the potential f...

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Abstract

The invention discloses a coal mine rescue robot path programming and navigation system based on an improved artificial potential field and a method thereof. An obstacle filling method and a disturbance potential field method are combined. In the obstacle filling method, virtual filling is performed on a concave obstacle, a potential field function is constructed and filled and a corresponding repulsive potential field function is generated. In the disturbance potential field method, through adding a disturbance potential field in a gravitational potential field, a gravitational potential field function is changed and a rescue robot can autonomously walk out of a local minimum point when falling into the local minimum point. The two methods are combined, which can well help the underground rescue robot escape from the local minimum point; and the path is reprogrammed, and the robot can be avoided from falling into other local minimum points again and can successfully complete a disaster rescue task; an algorithm is concise and high reliability is possessed.

Description

technical field [0001] The invention relates to a robot path planning and navigation system and method, in particular to the application of a coal mine disaster relief robot, and adopts a path planning method for the fusion of multiple technologies of an improved artificial potential field. Background technique [0002] When mining disasters occur in underground coal mines, it is a reliable and effective way to use robots for detection and rescue. For the key issues of underground robots, such as power supply, explosion-proof, and mechanical flexibility of robot walking, through the long-term and unremitting efforts of scientific researchers, considerable progress has been made. progress. The underground environment of coal mines is special, the roadways intersect with each other, and the space is narrow and closed. Robot path planning has always been a problem that restricts the application of robots in coal mines. As a mobile robot, the disaster relief robot's path plannin...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/021
Inventor 田子建高学浩
Owner CHINA UNIV OF MINING & TECH (BEIJING)
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