Immune Optimization of Path Planning for Coal Mine Rescue Robot
نویسندگان
چکیده
In order to further improve the ability of global path planning of coal mine rescue robot in the complex environment, a bacterial foraging algorithm-based polyclonal selection algorithm (BFA-PSA) is proposed. In order to verify the superiority of the BFA-PSA, the proposed algorithm is tested by traveling salesman problem (TSP) and compared with genetic algorithm (GA) and clonal selection algorithm (CSA). Finally, on the basis of grid environment model, the BFA-PSA is used in the optimization of path planning for coal mine rescue robot. The optimization results of the TSP show that the searching ability and efficiency of the BFA-PSA are improved. And the optimization results of path planning for coal mine rescue robot in the grid environment model show the better robustness and validity of the BFA-PSA.
منابع مشابه
Design of an Adaptive Coal Mine Rescue Robot using Wireless Sensor Networks
In early decades, rescue operation in coal mine was treated as a dangerous task. After explosions occur, when rescue workers get into the tunnel without environment conditional awareness, they are facing heavy damages due to consecutive explosions [1]. This bring the necessity to detect the status of the mine environment details such as toxic gases, high temperatures through wireless sensors to...
متن کاملHazardous Gas Detecting Rescue Robot in Coal Mines
Rescue operation in coal mine is extremely dangerous due to several factors. It is particularly very harmful for the rescuers to get into the coal mine tunnel in disaster without the prior knowledge of environment because the subsequent explosions may likely to occur at any time it is therefore essential to detect the explosive environment details such as toxic gases, high temperatures and also...
متن کاملStudy of Evolutionary and Swarm Intelligent Techniques for Soccer Robot Path Planning
Finding an optimal path for a robot in a soccer field involves different parameters such as the positions of the robot, positions of the obstacles, etc. Due to simplicity and smoothness of Ferguson Spline, it has been employed for path planning between arbitrary points on the field in many research teams. In order to optimize the parameters of Ferguson Spline some evolutionary or intelligent al...
متن کاملA Search-and-Rescue Robot System for Remotely Sensing the Underground Coal Mine Environment
This paper introduces a search-and-rescue robot system used for remote sensing of the underground coal mine environment, which is composed of an operating control unit and two mobile robots with explosion-proof and waterproof function. This robot system is designed to observe and collect information of the coal mine environment through remote control. Thus, this system can be regarded as a mult...
متن کاملOn Complete Coverage Path Planning Algorithms for Non-holonomic Mobile Robots: Survey and Challenges
The problem of determining a collision free path within a region is an important area of research in robotics. One significant aspect of this problem is coverage path planning, which is a process to find a path that passes through each reachable position in the desired area. This task is fundamental to many robotic applications such as cleaning, painting, underwater operations, mine sweeping, l...
متن کامل