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Research on hybrid path planning of underground degraded environment inspection robot based on improved A* algorithm and DWA algorithm

Published online by Cambridge University Press:  30 January 2025

Congcong Gu ,
Songyong Liu Open the ORCID record for Songyong Liu [Opens in a new window] ,
Hongsheng Li ,
Kewen Yuan  and
Wenjiie Bao
Congcong Gu
Affiliation:
School of Mechatronic Engineering, China University of Mining and Technology, Xuzhou, China National Key Laboratory of Intelligent Mining Equipment Technology, Xuzhou, China
Songyong Liu*
Affiliation:
School of Mechatronic Engineering, China University of Mining and Technology, Xuzhou, China National Key Laboratory of Intelligent Mining Equipment Technology, Xuzhou, China
Hongsheng Li
Affiliation:
School of Mechatronic Engineering, Xuzhou University of Technology, Xuzhou, China
Kewen Yuan
Affiliation:
School of Mechatronic Engineering, China University of Mining and Technology, Xuzhou, China National Key Laboratory of Intelligent Mining Equipment Technology, Xuzhou, China
Wenjiie Bao
Affiliation:
School of Mechatronic Engineering, China University of Mining and Technology, Xuzhou, China National Key Laboratory of Intelligent Mining Equipment Technology, Xuzhou, China
*
Corresponding author: Songyong Liu; Email: lsycumt@163.com
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Abstract

Aiming at the problems of many path inflection points, unsmooth paths, and poor local obstacle avoidance in path planning of inspection robots in static-dynamic scenes under complex geological conditions in coal mine roadways, a hybrid path planning method based on the improved A* algorithm and dynamic window approach (DWA) algorithm is proposed. First, the inspection robot platform and system model are constructed. An improved heuristic function that incorporates target weight information is proposed based on the A* global path planning algorithm. Additionally, redundant nodes are eliminated, and the path is smoothed using the Floyd algorithm and B-spline curves. Second, the global path planning A* algorithm and the local path planning DWA algorithm are fused. The dynamic path planning is carried out by setting the key node information of the global path extracted from the improved A* algorithm as the local target point of the DWA algorithm. On this basis, a grid map is established to simulate and analyze the proposed path planning algorithm. Finally, the autonomous path planning and walking experiment of inspection robot in simulated roadway environment are carried out. The results show that the hybrid path planning method based on improved A* algorithm and DWA algorithm proposed in this paper is more efficient and safer, which can meet the motion requirements of inspection robot in coal mine roadway.

Keywords

inspection robotpath planningautonomous driving
Type
Research Article
Information
Robotica , First View , pp. 1 - 22
Copyright
© The Author(s), 2025. Published by Cambridge University Press

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