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Full-Text Articles in Physical Sciences and Mathematics
Research On Path Planning Methods For Underground Roadheader Robots, Zhang Xuhui, Zheng Xili, Yang Wenjuan, Li Yuyang, Ma Bing, Dong Zheng, Chen Xin
Research On Path Planning Methods For Underground Roadheader Robots, Zhang Xuhui, Zheng Xili, Yang Wenjuan, Li Yuyang, Ma Bing, Dong Zheng, Chen Xin
Coal Geology & Exploration
In order to solve the problems of difficulty and low efficiency in the movement of robotic roadheaders under conditions of non-full-section roadways in coal mines, the characteristics of unstructured environments in coal mines and the motion characteristics of robotic roadheaders were analyzed, and a path planning method for robotic roadheaders based on deep reinforcement learning was proposed. The tunnel environment was constructed in real time using depth cameras, a virtual model for detecting roadheader-tunnel collisions was established, collision detection was performed in a virtual environment using the hierarchical bounding box method, and an obstacle avoidance strategy under the restrictions of …
Path Planning Of Coal Mine Rescue Robot Based On Improved A* Algorithm, Zhang Weimin, Zhang Yue, Zhang Hui
Path Planning Of Coal Mine Rescue Robot Based On Improved A* Algorithm, Zhang Weimin, Zhang Yue, Zhang Hui
Coal Geology & Exploration
A coal mine rescue robot that performs a rescue task needs to obtain the environment model and plan a collision-free path from the current location to the target location with the built-in algorithm upon receiving a task instruction. In order to reduce the moving time of the rescue robot, the path is usually required to be time-optimal. However, the path planned by the conventional A* algorithm that is widely used at present under the grid map environment has many problems, such as many path redundancy points and large turning angle, which leads to the fact that the path is suboptimal …