Path Planning Method for Underground Survey Robot in Dangerous Scenarios

Abstract

Over the past 20 years, there has been a growing demand for autonomous exploration of underground environments such as tunnels, urban underground corridors, and complex cave environments. With the development of robotics, dangerous tasks that used to be done by humans have been replaced by underground survey robots. To avoid obstacles in the process of robot work, path planning technology has become one of the important components of underground survey robot. The underground survey robot not only needs to move in the plane, but also needs to climb along the pipe. However, the existing research is mostly two-dimensional plane, which cannot be directly applied to the underground exploration robot. Firstly, this paper compares the existing research and chooses Dijkstra algorithm for three-dimensional implementation. After that, the environment map is established, and the position of obstacles faced by the robot was set for simulation verification. Simulation results show the effectiveness of the proposed algorithm.