In response to the complexity and danger of the working environment in coal mines,a real-time dynamic path planning method for mine fire evacuation based on an improved bidirectional A*algorithm was proposed to improve the survival rate of underground personnel in the event of a mine fire.By utilizing real-time monitoring data obtained from sensor monitoring equipment deployed underground,dynamically calculating weights,and improving the evaluation function of the bidirectional A*algorithm.Four factors were took into account that affect the escape of underground personnel,including tunnel type,slope,obstacles,wind speed and direction,and based on some real underground tunnel data collected from a domestic coal mine,combined with real-time sensor monitoring data,the algorithm was validated and compared with Dijkstra algorithm,traditional A*algorithm,and bidirectional A*algorithm.The experimental results showed that the improved bidirectional A*algorithm could not only effectively reduce storage costs,but also under different conditions,it is possible to dynamically plan the optimal safe escape route with fewer route nodes,which helps to improve the evacuation efficiency of workers and reduce the rate of casualties.
关键词
矿井火灾/人员逃生/实时动态/路径规划/评估函数
Key words
mine fires/personnel evacuation/real-time dynamics/path planning/evaluation function
维普
万方数据