Study on Automatic Avoiding Obstacle Method of Mine Rescue Robot Based on CERRT Algorithm

According to the complicated mine environment when a mine disaster occurred, a class expansion type rapid expanded random tree (CERRT) algorithm f or the mine rescue robot was provided.With the planning route advantages of the rapid expanded random RRT tree algorithm in the unknown environment, the method C ould apply the class expansion idea into the RRT algorithm and could have the features to avoid obstacles and rapidly seek the target in the unknown environment.The simulation was applied to prove the affectivity of the method.In comparison with the conventional method, the route planning and the avoiding obstacle capacity of the method was improved and the time to seek the target was reduced.This method could provide the references for the rescue robot seeking the target in the molybdenum mine, the copper mine and other mines.