Global path planning for coal mine rescue robots

摘要

Global path planning is one of the key techniques of autonomous navigation of coal mine rescue robot,which purpose is to find a collision-free path from the source to the destination.Aiming at the undetermined situations of the part of laneway after the mine disasters,based on the known GIS systems,the paper proposed a new global path planning scheme which adopts the improved Ant Colony Algorithm to obtain the optimal path in unknown environment;In light of rule of security and the shortest path,the fitness evaluation function is designed,and it is used for path evaluation and pheromone updating.In order to avoid plunging into the stagnating,the synthesizing path planning strategy of deterministic and stochastic selections is adopted.Integrity and effectiveness of the algorithm has been proved through the simulation.