| This paper mainly studies on the local path planning of coal mine rescue robots, for the environmental conditions of the gas explosion occurring in the mines.The research content, technical requirements and key technical problems of local path planning for coal mine rescue robot are proposed. The key technical problems include creating local map, collection and display of environmental information, positioning of local environment and algorithm of local path planning etc, and methods which resolve key technical problems are given.The way of map creating of local path planning for coal mine rescue robot is researched based on occupancy-grid model, contraposed the method of RGB map data storage and display in the computer, a grid-map based on RGB image is established. This map can be displayed real-timely during simulation. At the same time, obstacles can be added to map quickly through modifing the data of RGB images. The method of establishing reactive model in the rolling window is proposed, the direction of rescue robot bear in with can be received by evaluating the advantage of directions that the robot can travel to, after that, the length of path will be got by calculating, then the local path planning can process step by step. Based on analyzing what are reasons of local extreme value point and trap comes to being, the means of distinguishing if the robot come into local extreme value point or trap, these problems are solved by the method of adding disturbance angle, then robot can escape from extreme value pointsand trap well by the algorithm. The local path planning algorithm of rescue robot in dynamic environment is put forwarded, for the rescue robot will meet with the dynamic obstacles in the mine underground.The simulation demonstrates that the local path planning algorithm is provided with effectiveness and instantaneity. Finally the algorithm is transplanted to rescue robot, the feasibility of the algorithm in specific environment is proved through the laboratory test. |
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