Abstract:Because communication facilities from underground are damaged and may not work normally after mine disaster, accurate position about trapped workers cannot be known. The dangerous environment may cause second accident and hurt rescue workers. To find out trapped workers quickly, the multi-robot rescue system was proposed combined with the characteristics of under coal mine wireless environment, including creation of a free space model for robot, global and local path plan for multi robot rescue system. The MAKLINK graph theory was used to establish the free space model of the mobile robot, and then Dijkstra algorithm was utilized to find a sub-optimal collision-free path. Lastly, the improved algorithm based on distance to optimize the location of sub-optimal path was adopted to generate the optimal path of the mobile robot. The result of MATLAB simulation experiment shows that the proposed algorithm has a better performance in convergence speed and matches to the multi robot rescue system.