Path planning of coal mine rescue robot based on blocked grid map
To address the issues of coal mine rescue robots’ path planning algorithms taking too long, producing too many redundant points, and easily falling into deadlock in complex underground environments, a grid map blocking algorithm based on type matching is proposed. This algorithm iteratively blocks p...
Saved in:
| Main Authors: | , , , , , |
|---|---|
| Format: | Article |
| Language: | zho |
| Published: |
Editorial Department of Coal Science and Technology
2025-07-01
|
| Series: | Meitan kexue jishu |
| Subjects: | |
| Online Access: | http://www.mtkxjs.com.cn/article/doi/10.12438/cst.2024-0650 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1850028960485736448 |
|---|---|
| author | Xiaoqiang SHAO Mingqian LIU Bo MA Hao LI Zhiyue LYU Zehui HAN |
| author_facet | Xiaoqiang SHAO Mingqian LIU Bo MA Hao LI Zhiyue LYU Zehui HAN |
| author_sort | Xiaoqiang SHAO |
| collection | DOAJ |
| description | To address the issues of coal mine rescue robots’ path planning algorithms taking too long, producing too many redundant points, and easily falling into deadlock in complex underground environments, a grid map blocking algorithm based on type matching is proposed. This algorithm iteratively blocks passable nodes that do not require exploration in the grid map. The blocking process matches the grid map with a subgraph type composed of defined grid nodes and their neighbors. Firstly, blockable and non-blockable grid types are defined based on the pathfinding characteristics of the path planning algorithm. Then, the model is built according to these types, assigning weight and bias to each type. Finally, each type of subgraph is matched with the initial grid map through a two-dimensional convolution operation to block nodes that do not require expansion. Blocking the input raster map before using the path planning algorithm. Blocking nodes does not disconnect the minimum cost path in the original raster map. Experimental results show that this algorithm can be applied to various grid environment maps. In real underground coal mine grid maps, compared to using the path planning algorithm alone, the proposed algorithm combined with the A* algorithm reduces total path planning time by 60.0% and the number of expansion nodes by 60.4%. When combined with the ant colony algorithm, total time is reduced by 55.8% and the number of iterations by 53.7%. The proposed algorithm significantly reduces path planning time, solves the deadlock issue, has clear advantages in complex environment maps, and ensures timely accident rescue. |
| format | Article |
| id | doaj-art-124d3e2dfe064baa8777a7add83a94eb |
| institution | DOAJ |
| issn | 0253-2336 |
| language | zho |
| publishDate | 2025-07-01 |
| publisher | Editorial Department of Coal Science and Technology |
| record_format | Article |
| series | Meitan kexue jishu |
| spelling | doaj-art-124d3e2dfe064baa8777a7add83a94eb2025-08-20T02:59:41ZzhoEditorial Department of Coal Science and TechnologyMeitan kexue jishu0253-23362025-07-0153724926110.12438/cst.2024-06502024-0650Path planning of coal mine rescue robot based on blocked grid mapXiaoqiang SHAO0Mingqian LIU1Bo MA2Hao LI3Zhiyue LYU4Zehui HAN5College of Electrical and Control Engineering, Xi’an University of Science and Technology, Xi’an 710054, ChinaCollege of Electrical and Control Engineering, Xi’an University of Science and Technology, Xi’an 710054, ChinaCollege of Electrical and Control Engineering, Xi’an University of Science and Technology, Xi’an 710054, ChinaCollege of Electrical and Control Engineering, Xi’an University of Science and Technology, Xi’an 710054, ChinaCollege of Electrical and Control Engineering, Xi’an University of Science and Technology, Xi’an 710054, ChinaCollege of Electrical and Control Engineering, Xi’an University of Science and Technology, Xi’an 710054, ChinaTo address the issues of coal mine rescue robots’ path planning algorithms taking too long, producing too many redundant points, and easily falling into deadlock in complex underground environments, a grid map blocking algorithm based on type matching is proposed. This algorithm iteratively blocks passable nodes that do not require exploration in the grid map. The blocking process matches the grid map with a subgraph type composed of defined grid nodes and their neighbors. Firstly, blockable and non-blockable grid types are defined based on the pathfinding characteristics of the path planning algorithm. Then, the model is built according to these types, assigning weight and bias to each type. Finally, each type of subgraph is matched with the initial grid map through a two-dimensional convolution operation to block nodes that do not require expansion. Blocking the input raster map before using the path planning algorithm. Blocking nodes does not disconnect the minimum cost path in the original raster map. Experimental results show that this algorithm can be applied to various grid environment maps. In real underground coal mine grid maps, compared to using the path planning algorithm alone, the proposed algorithm combined with the A* algorithm reduces total path planning time by 60.0% and the number of expansion nodes by 60.4%. When combined with the ant colony algorithm, total time is reduced by 55.8% and the number of iterations by 53.7%. The proposed algorithm significantly reduces path planning time, solves the deadlock issue, has clear advantages in complex environment maps, and ensures timely accident rescue.http://www.mtkxjs.com.cn/article/doi/10.12438/cst.2024-0650coal mine rescue robotgrid mapblocking grid mapa* algorithmant colony optimization |
| spellingShingle | Xiaoqiang SHAO Mingqian LIU Bo MA Hao LI Zhiyue LYU Zehui HAN Path planning of coal mine rescue robot based on blocked grid map Meitan kexue jishu coal mine rescue robot grid map blocking grid map a* algorithm ant colony optimization |
| title | Path planning of coal mine rescue robot based on blocked grid map |
| title_full | Path planning of coal mine rescue robot based on blocked grid map |
| title_fullStr | Path planning of coal mine rescue robot based on blocked grid map |
| title_full_unstemmed | Path planning of coal mine rescue robot based on blocked grid map |
| title_short | Path planning of coal mine rescue robot based on blocked grid map |
| title_sort | path planning of coal mine rescue robot based on blocked grid map |
| topic | coal mine rescue robot grid map blocking grid map a* algorithm ant colony optimization |
| url | http://www.mtkxjs.com.cn/article/doi/10.12438/cst.2024-0650 |
| work_keys_str_mv | AT xiaoqiangshao pathplanningofcoalminerescuerobotbasedonblockedgridmap AT mingqianliu pathplanningofcoalminerescuerobotbasedonblockedgridmap AT boma pathplanningofcoalminerescuerobotbasedonblockedgridmap AT haoli pathplanningofcoalminerescuerobotbasedonblockedgridmap AT zhiyuelyu pathplanningofcoalminerescuerobotbasedonblockedgridmap AT zehuihan pathplanningofcoalminerescuerobotbasedonblockedgridmap |