基于人工势场法的掘进机器人局部避岩研究
Study on avoid local rock of tunneling robot based on artificial potential field
巷道截割作业中，截割路径的规划是巷道断面成形自动控制的关键，本文在分析巷道断面成形自动控制的基础上，研究了掘进机器人在掘进过程中如何避岩的问题。针对煤岩分离问题采用了人工势场法进行绕避，取得了较好的效果。以截割头为参照建立数学模型，采用MATLAB软件进行仿真，验证了理论的正确性。本文对煤层岩石的绕避采用人工势场法建立模型，进行截割路径的规划，完成了基于人工势场算法的理论计算和仿真。
iming at over-and-under excavation easy to occur during the control of tunneling robot in underground coal mine. In this paper, the geometric projection method was adopted to establish space mathematical model between real-time position of cutting head and size of roadway when tunneling robot in completed tilting environment. Using MATLAB software platform, we carried out control simulation of the section forming, and verified the validity of the cutting motion modeling. This study lays the foundation for the accuracy of the section shaping control of the tunneling robot.
徐楠、康栋梁、童敏明
矿业工程理论与方法论自动化技术、自动化技术设备
掘进机器人人工势场法局部避岩MATLAB
tunneling robotartificial potential fieldavoid local rockMATLAB
徐楠,康栋梁,童敏明.基于人工势场法的掘进机器人局部避岩研究[EB/OL].(2011-08-11)[2025-08-03].http://www.paper.edu.cn/releasepaper/content/201108-186.点此复制
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