Path planning for coal mine robot to avoid obstacle in gas distribution area

Ma, Xiliang; Mao, Ruiqing

doi:10.1177/1729881417751505

Cited by 10 publications

(5 citation statements)

References 7 publications

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“…There is relatively little research on path planning in underground mining, and currently it is mainly focused on underground disaster relief, surveying, and mapping. Ma et al [32] proposed a path planning method considering gas concentration distributions. The global working path for a coal mine robot was planned based on the Dijkstra algorithm and the ant colony algorithm, then local path adjustments were carried out.…”

Section: Path Planning Methodsmentioning

confidence: 99%

A Path Planning Method for Underground Intelligent Vehicles Based on an Improved RRT* Algorithm

Wang

Hou

et al. 2022

Electronics

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Path planning is one of the key technologies for unmanned driving of underground intelligent vehicles. Due to the complexity of the drift environment and the vehicle structure, some improvements should be made to adapt to underground mining conditions. This paper proposes a path planning method based on an improved RRT* (Rapidly-Exploring Random Tree Star) algorithm for solving the problem of path planning for underground intelligent vehicles based on articulated structure and drift environment conditions. The kinematics of underground intelligent vehicles are realized by vectorized map and dynamic constraints. The RRT* algorithm is selected for improvement, including dynamic step size, steering angle constraints, and optimal tree reconnection. The simulation case study proves the effectiveness of the algorithm, with a lower path length, lower node count, and 100% steering angle efficiency.

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Section: Path Planning Methodsmentioning

confidence: 99%

A Path Planning Method for Underground Intelligent Vehicles Based on an Improved RRT* Algorithm

Wang

Hou

et al. 2022

Electronics

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“…Dijkstra's algorithm is a well-known search algorithm developed by a Dutch computer scientist, Edsger Dijkstra, in 1959 [92], which can be applied on a graph. The algorithm is one of the solutions on Single-Source Shortest Path problem (SSSP) with directed or undirected graphs, and has edges with non-negative weights [93]. The SSSP is defined as finding the shortest path from a distinguished vertex in a graph called source to every other vertex in the graph.…”

Section: The Dijkstra Algorithmmentioning

confidence: 99%

Search and Rescue in a Maze-like Environment with Ant and Dijkstra Algorithms

Husain

Zaabi

Hildmann

et al. 2022

Drones

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With the growing reliability of modern ad hoc networks, it is encouraging to analyze the potential involvement of autonomous ad hoc agents in critical situations where human involvement could be perilous. One such critical scenario is the Search and Rescue effort in the event of a disaster, in which timely discovery and help deployment is of utmost importance. This paper demonstrates the applicability of a bio-inspired technique, namely Ant Algorithms (AA), in optimizing the search time for a route or path to a trapped victim, followed by the application of Dijkstra’s algorithm in the rescue phase. The inherent exploratory nature of AA is put to use for faster mapping and coverage of the unknown search space. Four different AA are implemented, with different effects of the pheromone in play. An inverted AA, with repulsive pheromones, was found to be the best fit for this particular application. After considerable exploration, upon discovery of the victim, the autonomous agents further facilitate the rescue process by forming a relay network, using the already deployed resources. Hence, the paper discusses a detailed decision-making model of the swarm, segmented into two primary phases that are responsible for the search and rescue, respectively. Different aspects of the performance of the agent swarm are analyzed as a function of the spatial dimensions, the complexity of the search space, the deployed search group size, and the signal permeability of the obstacles in the area.

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“…Dijkstra's algorithm is a well-known search algorithm, developed by a Dutch computer scientist Edsger Dijkstra in 1959 (Nagatani et al, 2011), that can be applied on a graph. The algorithm is one of the solutions on Single-Source Shortest Path problem (SSSP) with directed or undirected graphs that has edges with non-negative weights (Ma and Mao, 2018). Dijkstra's algorithm follows the greedy approach and finds the optimal path with the least total cost (shortest path from source to destination) (Xiaowei and Xiaoguang, 2016).…”

Section: The Dijkstra Algorithmmentioning

confidence: 99%

Search and Rescue in a Maze-like Environment with Ant and Dijkstra Algorithms

Husain¹,

Zaabi²,

Hildmann³

et al. 2021

Preprint

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With the growing reliability of modern Ad Hoc Networks, it is encouraging to analyze potential involvement of autonomous Ad Hoc agents in critical situations where human involvement could be perilous. One such critical scenario is the Search and Rescue effort in the event of a disaster where timely discovery and help deployment is of utmost importance. This paper demonstrates the applicability of a bio-inspired technique, namely Ant Algorithms (AA), in optimizing the search time for a near optimal path to a trapped victim, followed by the application of Dijkstra's algorithm in the rescue phase. The inherent exploratory nature of AA is put to use for a faster Z. Husain Electrical and Computer Eng.

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Path planning for coal mine robot to avoid obstacle in gas distribution area

Cited by 10 publications

References 7 publications

A Path Planning Method for Underground Intelligent Vehicles Based on an Improved RRT* Algorithm

A Path Planning Method for Underground Intelligent Vehicles Based on an Improved RRT* Algorithm

Search and Rescue in a Maze-like Environment with Ant and Dijkstra Algorithms

Search and Rescue in a Maze-like Environment with Ant and Dijkstra Algorithms

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