Method for realizing underground robot path optimization based on membrane calculation

Abstract

The invention discloses a method for realizing underground robot path optimization based on membrane calculation. The path optimization method comprises the following steps of constructing a coal mineunderground robot cell type membrane system, constructing a membrane controller structure, designing a membrane algorithm, simulating a mobile robot and analyzing an experimental result. According tothe robot path optimization method, by changing the evolutionary algebra, the moving speed error of the robot is smaller, the good convergence is achieved, and compared with a traditional algorithm,the speed error is smaller, and the accuracy of the membrane algorithm in speed calculation of the underground mobile robot is higher. The simulation and experiments show that the provided membrane algorithm has rapid convergence and effectiveness, the designed device can effectively solve the routing inspection problem under the complex environment of an underground coal mine, and the theoreticalsupport and practical application value are provided for the accurate mining of the coal mine in the future through the efficient calculation performance and the rapid optimization performance.

Description

technical field [0001] The invention relates to a robot path optimization method, in particular to a method for realizing downhole robot path optimization based on membrane calculation. Background technique [0002] The rapid development of big data and artificial intelligence technology has opened up a new situation for precise coal mining. Forming an intelligent, unmanned, safe and efficient coal mining method is a new form of precision mining in coal mines, achieving the goal of unmanned safe, efficient and precise coal mining while improving the level of automation and intelligence. Using communication technology and intelligent control technology, around the complex environment of coal mines, improve real-time online monitoring and risk identification of coal mines, and solve the uncertainty of traditional disaster warnings. Mobile robots are important carriers. Real-time monitoring, inspection and search and rescue work in coal mines are completed by robots, which mak...

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Problems solved by technology

[0003] The purpose of the present invention is to provide a method for optimizing the path of an underground robot based on membrane calculation. The method for optimizing the path of the robot in the present invention is introduced into the optimization of the underground robot in coal mines through membrane calculation, so as to improve the efficiency and accuracy of the robot's inspection work in the underground; by changing Evolutionary algebra, the speed error of robot movement is relatively small, and has good convergence. Compared with traditional algorithms, the speed error is small, and the membrane algorithm is more accurate in solving the speed of underground mobile robots; through simulation and experiments It shows that the proposed membrane algorithm has fast convergence and effectiveness, and the designed device can effectively solve the inspection problem in the complex environment of coal mines. Its efficient calculation performance and fast optimization performance provide a theory for the future precision mining Support and practical application value

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