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2.1. Initial Path Planning For Coal Mine Robot: G V E V E

The document discusses the initial path planning for a coal mine robot using the Dijkstra algorithm to determine working paths based on a network graph. It then addresses the limitations of Dijkstra's algorithm and proposes the use of an ant colony algorithm to optimize the initial paths by considering distances to obstacles and gas concentrations. The optimization process involves defining an objective function and utilizing a selective probability method to enhance the pathfinding efficiency of the robot.

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9 views2 pages

2.1. Initial Path Planning For Coal Mine Robot: G V E V E

The document discusses the initial path planning for a coal mine robot using the Dijkstra algorithm to determine working paths based on a network graph. It then addresses the limitations of Dijkstra's algorithm and proposes the use of an ant colony algorithm to optimize the initial paths by considering distances to obstacles and gas concentrations. The optimization process involves defining an objective function and utilizing a selective probability method to enhance the pathfinding efficiency of the robot.

Uploaded by

arpitpatokar27
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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2.1.

Initial Path Planning for Coal Mine Robot


The initial working paths for coal mine robot are obtained based on Dijkstra algorithm. The working
environment network graph obtained by MAKLINK method is defined as G = (V, E), where V is the set of all
the path nodes which include the starting point and the target point. E is the set of edges which link the path
nodes.

The adjacency matrix of the network graph G = (V, E) is defined as X. The value of the element at ith row and jth column
can be expressed as follows [13]:

(1)

where H(vi, vj) is the distance between vi and vj.

The set of path nodes of coal mine robot is divided into two subsets S and U, and V = {S, U}, where S is the set
of path nodes that have been admitted to be on the shortest path and U is the set of the path nodes that have not.

Based on Dijkstra algorithm, the steps to obtain the initial working paths for coal mine robot are as follows:

 (1)

Put the starting point St into S and the rest of the path nodes into U. The adjacency matrix X is used to initialize
the shortest paths W between St and each point in U.

 (2)

Select the minimum value Wi in W, and put the corresponding point vi into S.

 (3)

Use point vi as the intermediate point, and update the distances W′ between St and each point in U. If the direct
distance between St and vj in U is larger than the sum of the distance between St and vi and that

between vi and vj, the distance between St and vj is updated to be .

 (4)

Repeat step (2) and step (3), until the set U is empty. The shortest paths between St and each path node are
obtained.

2.2. Optimal Path Planning for Coal Mine Robot


As it is known that a safe working path for coal mine robot can be determined through Dijkstra algorithm, due
to the inherent shortcomings of Dijkstra algorithm, it is difficult to guarantee that the obtained path is the
optimal one. Therefore, to get the optimal working path for coal mine robot, the initial working paths obtained
by Dijkstra algorithm are further optimized by ant colony algorithm.

A working path from St to Ds for coal mine robot obtained by Dijkstra algorithm can be expressed as follows:

(2)

where ni (i = 1,2, …, l) is the sequential path nodes.


The initial length of the paths and the distances between the path nodes and the nodes of obstacles or gas
concentration distributions should be considered simultaneously when ant colony algorithm is used. The objective
function of the optimal working path for coal mine robot is defined as follows [14]:

(3)

where Hk is the length of the path that is passed by the kth ant; is the minimum value of the distance between the
path nodes and the nodes of obstacles or gas concentration distributions passed by the kth ant.

The edges on the initial path in MAKLINK graph are defined as Hi (i = 1,2, …, l). The endpoints of Hi are vi,0 and vi,1. Other
path nodes can be expressed as follows:

(4)

where ki is a scale factor and ki ∈ [0,1].

For a given set of parameters ki (i = 1,2, …, l), a new path can be obtained by the determined new path nodes on
each Hi. The path with the minimum function value is the optimal one for coal mine robot.

The initial path Hi is split by a fixed-length ΔH. The numbers of the splits of each initial path Hi can be expressed as
follows:

(5)

There are n(Hi+1) + 1 selective paths from each node on edge Hi to the adjacent edge Hi+1. Supposing that the initial ant
quantity of ant colony algorithm is m, the path from the starting point St to the target point Ds can be expressed as
follows:

(6)

where nlj represents the jth equal division point of the path node on the edge Hl.

During ant colony algorithm solving process, to avoid falling into a local optimum, a randomly selected parameter q (q ∈
[0,1]) is defined as the selective probability when the kth ant moves from vi to vj. The selective probability is compared
with a scheduled selectivity constant q0 (q0 ∈ [0,1]), and the final selective probability is determined by the compared
result and can be expressed as follows:

(7)

where τi,j is the pheromone concentration between vi and vj; ηi,j is the inspired value between vi and vj, ηi,j = 1/di,j; di,j is
the distance between vi and vj; allowedk is the next elective nodes set of the kth ant; ε and δ are the relative importance
degree of the pheromone concentration and the inspired value, respectively.

After the selective probability of the kth ant which moves from vi to vj is obtained, a roulette method is used to
determine the right node vj to which the kth ant moves. As the kth ant reaches vj, pheromone concentration of the node
should be updated as follows:

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