CAJ | 학술논문

随着国家对自动化作业的重视,越来越多的矿井开始引入矿井作业机器人进行煤矿的挖掘和开采,但是矿井下环境恶劣,而且大型矿井内部结构复杂,因此井下作业机器人对路径规划能力有很高的要求.本文引入旅行商问题的思想寻求最优运动路径;应用图论相关知识对矿井结构示意图进行分析转化,引入Dijkstra算法解决最短路径问题,并在代价矩阵中添加角度递增函数确定优先权,最后使用离散粒子群算法进行仿真求解,取得了较好的实验效果.
수착국가대자동화작업적중시,월래월다적광정개시인입광정작업궤기인진행매광적알굴화개채,단시광정하배경악렬,이차대형광정내부결구복잡,인차정하작업궤기인대로경규화능력유흔고적요구.본문인입여행상문제적사상심구최우운동로경;응용도론상관지식대광정결구시의도진행분석전화,인입Dijkstra산법해결최단로경문제,병재대개구진중첨가각도체증함수학정우선권,최후사용리산입자군산법진행방진구해,취득료교호적실험효과.
Along with the national attention on automation,more and more of the mine began the introduction of mine robot for coal mining and mining,but mine under harsh environment and large mine complex internal structure,so downhole operation robot on the path planning ability have very high requirements.In this paper,we introduce the idea of traveling salesman problem for finding the optimal motion path;application of graph theory to mine structure schematic diagram analysis transformation,introduced Dijkstra algorithm to solve the shortest path problem and in the cost matrix add angle increasing function to determine the priority,at last,using the discrete particle swarm optimization algorithm is adopted to solve the model and achieved good experimental results.