CAJ | 학술논문

矿难发生后，井下通信设施可能已有一定的损害、无法正常使用，因而无法知道被困人员的确切位置并且井下环境复杂危险，可能对营救人员造成伤害发生二次事故。为了快速地搜索到被困人员，结合井下无线传播环境的特点，提出井下多机器人组网搜救系统，其中包括机器人自由空间环境模型的创建、机器人搜索的局部和全局路径的规划。利用MAKLINK图论理论对井下环境进行建模，并且采用Dijkstra算法规划出避障初始路径，最后依据距离改进蚁群算法节点选择得出优化的最终路径，完成搜索路径的规划。MATLAB仿真结果表明，优化的路径总长度明显优于初始路径并且改进的蚁群算法有着较好的收敛速度，可以满足多机器人搜救系统的要求。
광난발생후，정하통신설시가능이유일정적손해、무법정상사용，인이무법지도피곤인원적학절위치병차정하배경복잡위험，가능대영구인원조성상해발생이차사고。위료쾌속지수색도피곤인원，결합정하무선전파배경적특점，제출정하다궤기인조망수구계통，기중포괄궤기인자유공간배경모형적창건、궤기인수색적국부화전국로경적규화。이용MAKLINK도론이론대정하배경진행건모，병차채용Dijkstra산법규화출피장초시로경，최후의거거리개진의군산법절점선택득출우화적최종로경，완성수색로경적규화。MATLAB방진결과표명，우화적로경총장도명현우우초시로경병차개진적의군산법유착교호적수렴속도，가이만족다궤기인수구계통적요구。
Because communication facilities from underground are damaged and may not work normally after mine disaster,accu-rate position about trapped workers cannot be known.The dangerous environment may cause second accident and hurt rescue workers. To find out trapped workers quickly,the multi-robot rescue system was proposed combined with the characteristics of under coal mine wireless environment,including creation of a free space model for robot,global and local path plan for multi-robot rescue system.The MAKLINK graph theory was used to establish the free space model of the mobile robot,and then Dijkstra algorithm was utilized to find a sub-optimal collision-free path.Lastly,the improved algorithm based on distance to optimize the location of sub-optimal path was a-dopted to generate the optimal path of the mobile robot.The result of MATLAB simulation experiment shows that the proposed algorithm has a better performance in convergence speed and matches to the multi-robot rescue system.