Research on path planning for Coal Mine Detection Robot

Aiming at the path planning for Coal Mine Detection Robot in unknown static environment, a path planning method is propounded which couples behavioural dynamics with rolling scan information. Firstly, the method of sub-target´s choice is provided using heuristic function according to the rolling scan information, it is local environment information, which is obtained by sensors. Then path planning is divided into Trending To Target behaviour and Obstacle Avoidance behaviour, their behaviour state and behaviour pattern dynamics modes are established, and then one autonomous local path planning technology is implemented using behaviour dynamics mode in a single rolling scan region. Connecting a series of local paths tandem according to continuity, the global path planning is accomplished ultimately. The method has a simple principle and low calculating burden, smooth path and high applied value. The method´s efficiency and adaptability is verified by simulation experiment.