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An Improved Iterated Greedy Algorithm for Solving rescue robot Path Planning Problem with Limited Survival Time

Computers, Materials & Continua 2024年第7期80卷 931-947页

作者： Xiaoqing Wang Peng Duan Leilei Meng Kaidong Yang School of Computer Science Liaocheng UniversityLiaocheng252000China Shandong Key Laboratory of Optical Communication Science and Technology School of Physics Science and Information TechnologyLiaocheng UniversityLiaocheng252059China

Effective path planning is crucial for mobile robots to quickly reach rescue destination and complete rescue tasks in a post-disaster *** this study,we investigated the post-disaster rescue path planning problem and modeled this problem as a variant of the travel salesman problem(TSP)with life-strength *** address this problem,we proposed an improved iterated greedy(IIG)***,a push-forward insertion heuristic(PFIH)strategy was employed to generate a high-quality initial ***,a greedy-based insertion strategy was designed and used in the destruction-construction stage to increase the algorithm’s exploration ***,three problem-specific swap operators were developed to improve the algorithm’s exploitation ***,an improved simulated annealing(SA)strategy was used as an acceptance criterion to effectively prevent the algorithm from falling into local *** verify the effectiveness of the proposed algorithm,the Solomon dataset was extended to generate 27 instances for ***,the proposed IIG was compared with five state-of-the-art *** parameter analysiswas conducted using the design of experiments(DOE)Taguchi method,and the effectiveness analysis of each component has been verified one by *** results indicate that IIGoutperforms the compared algorithms in terms of the number of rescue survivors and convergence speed,proving the effectiveness of the proposed algorithm.

关键词： rescue robot path planning life strength improved iterative greedy algorithm problem-specific swap operators

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Mobile platform of rocker-type coal mine rescue robot

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Mining Science and Technology 2010年第3期20卷 466-471页

作者： LI Yunwang GE Shirong ZHU Hua FANG Haifang GAO Jinke School of Mechanical and Electrical Engineering China University of Mining&TechnologyXuzhou 221008China

After a coal mine disaster,especially a gas and coal dust explosion,the space-restricted and unstructured underground terrain and explosive gas require coal mine rescue robots with good obstacle-surmounting performance and explosion-proof capability. For this type of environment,we designed a mobile platform for a rocker-type coal mine rescue robot with four independent drive *** composition and operational principles of the mobile platform are introduced,we discuss the flameproof design of the rocker assembly,as well as the operational principles and mechanical structure of the bevel gear differential and the main parameters are *** simulation of the differential function and condition of the robot running on virtual,uneven terrain is carried out with *** simulation results show that the differential device can maintain the main body of the robot at an average angle between two *** robot model has good operating *** on terrain adaptability and surmounting obstacle performance of the robot prototype have been carried *** results indicate that the prototype has good terrain adaptability and strong obstacle-surmounting performance.

关键词： coal mine rescue robot rocker suspension differential explosion-proof design

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Microphone Array Based Auditory Localization for rescue robot

Microphone Array Based Auditory Localization for Rescue Robo...

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2011 Chinese Control and Decision Conference（CCDC）

作者： Hao Sun is with Hebei University of Technology,Tianjin,300130 CHN.Peng Yang is with Hebei University of Technology,Tianjin,300130 CHN.Zuojun Liu is with Hebei University of Technology,Tianjin,300130 CHN.Linan Zu is with Hebei University of Technology,Tianjin,300130 CHN.Qinqi Xu is with Hebei University of Technology,Tianjin,300130 CHN

Because of the smoke or collapsed walls in the buildings while fire or earthquake occurred,a rescue robot can not directly find the target which is in other rooms or invisible places by using visual,ultrasonic or infrared ray *** to the diffraction property of audio signal,the sound can bypass *** using microphone array,combined with the speech recognition technology,an audio-based robot navigation system is developed to make it feasible to guide the robot find the target shouting for *** ideal effects are obtained in experiments.

关键词： rescue robot Microphone array Navigation

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A novel explosion-proof walking system: Twin dual-motor drive tracked units for coal mine rescue robots

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Journal of Central South University 2016年第10期23卷 2570-2577页

作者：李雨潭朱华李猛钢李鹏 School of Mechatronic Engineering China University of Mining and Technology

A new explosion-proof walking system was designed for the coal mine rescue robot(CMRR) by optimizing the mechanical structure and control algorithm. The mechanical structure innovation lies mainly in the dual-motor drive tracked unit used, which showed high dynamic performance compared with the conventional tracked unit. The control algorithm, developed based on decision trees and neural networking, facilitates autonomous switching between "Velocity-driven Mode" and "Torquedriven Mode". To verify the feasibility and effectiveness of the control strategy, we built a self-designed test platform and used it to debug the control program; we then made a robot prototype and conducted further experiments on single-step, ramp, and rubble terrains. The results show that the proposed walking system has excellent dynamic performance and the control strategy is very efficient, suggesting that a robot with this type of explosion-proof walking system can be successfully applied in Chinese coal mines.

关键词： coal mine rescue robot tracked walking system explosion-proof control strategy

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