Path planning for a new mine rescue robot base on visual tangent graphs

A new mine rescue robot is designed in order to enhance the rescue capacity of mine rescue robot.A visual tangent graph concept is discussed for modeling unknown environment.A path planning method in unknown environment is proposed for the new mine rescue robot based on the visual tangent graph.A local optimal path guided by the global goal is searched using the "least direction deviation" heuristic functions.The simulation results demonstrate that the path planning method is feasible with better environment adaptability,which satisfy the motion requirement of the new mine rescue robot in unknown environment.