Minimum safe distance control for obstacle avoidance of underground coal mine robots based on FDH bounding box algorithm
The complex and ever-changing environment underground in coal mines proposes higher demands on the obstacle avoidance ability of underground robots.Minimum safe distance control for obstacle avoidance of underground coal mine robots based on FDH bounding box algorithm was put forward.A kinematic model of coal mine underground robot was built,and the robot's motion state was controlled by controlling the acceleration of each wheel.The FDH bounding box algorithm was used to construct an FDH binary tree,and the point-triangle collision detection method was used to accurately calculate the distance between the basic geometric elements of the robot and the obstacle,and then determine whether there was a collision between the two.After eliminating obstacles without collisions,a one-fifth degree polynomial algorithm was used to plan the robot's movement trajectory,and the lateral acceleration of the robot was obtained.The minimum safe distance for the robot to avoid obstacles was determined based on the displacement and lateral acceleration.The experimental results showed that using this method for obstacle avoidance minimum safe distance control,the robot could successfully avoid obstacles in narrow spaces of simple or complex scenes,and reach the endpoint smoothly and smoothly,and the safety distance between the robot and the obstacle was minimized in the planned obstacle avoidance trajectory.
NETL
NSTL
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