Research on SBMPC Algorithm for Path Planning of Rescue and Detection Robot

Abstract

This research aims to improve autonomous navigation of coal mine rescue and detection robot, eliminate the danger for rescuers, and enhance the security of rescue work. The concept of model predictive control is introduced into path planning of rescue and detection robot in this paper. Sampling-Based Model Predictive Control (SBMPC) algorithm is proposed basing on the construction of cost function and predictive kinematics model. Firstly, input sampling is conducted in control variable space of robot motion in order to generate candidate path planning solutions. Then, robot attitude and position in future time, which are regarded as output variables of robot motion, can be calculated through predictive kinematics model and input sampling data. The optimum solution of path planning is obtained from candidate solutions through continuous moving optimization of the defined cost function. The effects of the three sampling methods (viz., uniform sampling, Halton’s sampling, and CVT  sampling) on path planning performance are compared in simulations. Statistical analysis demonstrates that CVT sampling has the most uniform coverage in two-dimensional plane when sample amount is the same for three methods. Simulation results show that SBMPC algorithm is effective and feasible to plan a secure route for rescue and detection robot under complex environment.