Research On Path Planning And Location Algorithm For Microminiature UAV In Coal Mine

The underground coal mine environment is complex and changeable,and roadway is all round too,then it has caused great trouble to the rescue when has disaster.Therefore,this paper proposes that we can used small rotor unmanned aerial vehicle to detect the underground environmental information after disaster.It is necessary for the unmanned aerial vehicle to collect the post disaster environment information in a short time and the underground environment is unknown when it had disaster.Therefore,the location algorithm and path planning algorithm of the unmanned aerial vehicle(UAV)are studied in this paper.What’s more,we has improved the A*path planning algorithm,the operation time of the algorithm is reduced and the track of the burst threat section can be corrected quickly to complete the track planning of the downhole unmanned aerial vehicle after the disaster.The main research content and the innovation work are as follows:1.The downhole environment is modeled after the disaster.On the basis of considering the influence of the original downhole obstacle to the UAV,the threat to the UAV caused by the sudden threat is taken into consideration,and the underground burst threat model after the disaster is established.The common UAV path planning algorithm is compared,and those principle and realization method are analyzed in detail,which lays the foundation for the improvement of the follow down unmanned aerial vehicle trajectory planning algorithm.2.Ins and geomagnetic integrated positioning are applied to locate UAVs after the disaster.By analyzing the factors that influence the data acquisition of underground geomagnetic data,the corresponding solutions are put forward.Next,we has improved the MSD geomagnetic matching algorithm,and use interpolation algorithm to optimize the algorithm,then get the location data exactly.Combined with inertial navigation,according to the UAV sensor and flight data,the system state equation is given,and complete the initial positioning of UAVs.Finally,we use the improved MSD geomagnetic matching location algorithm to locate the position of inertial navigation,and get the location results that meet the requirements of underground work accuracy.3.In order to solve the flight path planning problem of unmanned aerial vehicle under the coal mine environment,based on the traditional sparse A*algorithm,this paper has proposed the variable weight dynamic sparse A*algorithm.The improved algorithm selects the appropriate weight coefficient according to the task needs firstly,and searches for the global static datum track of the UAV.If the unmanned aerial vehicle(UAV)meets the sudden threat when it performs the task according to the base track,the sudden threat on the route is analyzed firstly,and then the threat track section is modified.The improved algorithm is simulated,and the results show that it can avoid unexpected threats quickly and improve the real-time and safety of route planning.