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Research on Path Planning Method of Coal Mine Robot to Avoid Obstacle in Gas Distribution Area
Joint Authors
Source
Issue
Vol. 2016, Issue 2016 (31 Dec. 2016), pp.1-6, 6 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2016-08-03
Country of Publication
Egypt
No. of Pages
6
Main Subjects
Abstract EN
As the explosion-proof safety level of a coal mine robot has not yet reached the level of intrinsic safety “ia” and it cannot work in a dangerous gas distribution area, therefore, path planning methods for coal mine robot to avoid the dangerous area of gas are necessary.
In this paper, to avoid a secondary explosion when the coal mine robot passes through gas hazard zones, a path planning method is proposed with consideration of gas concentration distributions.
First, with consideration of gas distribution area and obstacles, MAKLINK method is adopted to describe the working environment network diagram of the coal mine robot.
Second, the initial working paths for the coal mine robot are obtained based on Dijkstra algorithm, and then the global optimal working path for the coal mine robot is obtained based on ant colony algorithm.
Lastly, experiments are conducted in a roadway after an accident, and results by different path planning methods are compared, which verified the effectiveness of the proposed path planning method.
American Psychological Association (APA)
Mao, Ruiqing& Ma, Xiliang. 2016. Research on Path Planning Method of Coal Mine Robot to Avoid Obstacle in Gas Distribution Area. Journal of Robotics،Vol. 2016, no. 2016, pp.1-6.
https://search.emarefa.net/detail/BIM-1110279
Modern Language Association (MLA)
Mao, Ruiqing& Ma, Xiliang. Research on Path Planning Method of Coal Mine Robot to Avoid Obstacle in Gas Distribution Area. Journal of Robotics No. 2016 (2016), pp.1-6.
https://search.emarefa.net/detail/BIM-1110279
American Medical Association (AMA)
Mao, Ruiqing& Ma, Xiliang. Research on Path Planning Method of Coal Mine Robot to Avoid Obstacle in Gas Distribution Area. Journal of Robotics. 2016. Vol. 2016, no. 2016, pp.1-6.
https://search.emarefa.net/detail/BIM-1110279
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1110279