Research On Map Construction And Path Planning Of Inspection Robot In Coal Mine Working Face

As we all know,it is dangerous to work in coal mine,There are many high gas mines,together with inadequate technology and management,and the continuous growth of the national demand for coal resources in recent years,which make gas explosion and other accidents occur frequently in coal mining,resulting in major casualties,seriously restricting the healthy development of the coal industry.Therefore,the research and development of underground detection and inspection robot has become a prerequisite for the development of coal mine.It can replace the rescue workers to enter the underground coal mine to detect the gas concentration.At the same time,the real-time transmission of information to the ground provides a guarantee for the rapid and accurate development of coal mine work.At present,all countries are actively studying the inspection robot in coal mine.In order to complete the detection task in the mine environment with complex structure,the mobile robot must have good ability of map construction and path planning,so it is very important to study the map construction and path planning of the detection robot in the mine environment.In this paper,the kinematics model and mathematical control model of the robot are established firstly,then how to realize the map construction of the mobile robot in the known environment is introduced.The SLAM algorithm of the extended Kalman filter is used to construct the map in the underground environment of the coal mine,and the improved SLAM algorithm of the extended Kalman filter is used to optimize.At the same time,the ant colony algorithm is applied to the path planning in the underground environment of the coal mine.At the same time,the improved ant colony algorithm is applied,that is,the hybrid optimization ant colony algorithm is used to improve the ant colony algorithm combined with the target attraction improvement heuristic information,the improvement of pheromone distribution mechanism and the improvement strategy of discarding some ants.Results the speed of path planning was improved and the problem of slow convergence was solved.Finally,the motion control model is simulated and tracked by MATLAB.Using MATLAB to simulate the map construction,the improved algorithm is faster and more accurate than before.Matlab is used to simulate the improved ant colony algorithm,and the improved ant colony algorithm has higher accuracy and faster speed.The paper has 33 pictures,4tables,and 70 references.