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Journal of Robotics
Volume 2016, Article ID 6858970, 10 pages
Research Article

Gas Concentration Prediction Based on the Measured Data of a Coal Mine Rescue Robot

School of Mechanical and Electrical Engineering, China University of Mining and Technology, Xuzhou, Jiangsu 221116, China

Received 26 November 2015; Revised 24 February 2016; Accepted 14 March 2016

Academic Editor: Giovanni Muscato

Copyright © 2016 Xiliang Ma and Hua Zhu. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


The coal mine environment is complex and dangerous after gas accident; then a timely and effective rescue and relief work is necessary. Hence prediction of gas concentration in front of coal mine rescue robot is an important significance to ensure that the coal mine rescue robot carries out the exploration and search and rescue mission. In this paper, a gray neural network is proposed to predict the gas concentration 10 meters in front of the coal mine rescue robot based on the gas concentration, temperature, and wind speed of the current position and 1 meter in front. Subsequently the quantum genetic algorithm optimization gray neural network parameters of the gas concentration prediction method are proposed to get more accurate prediction of the gas concentration in the roadway. Experimental results show that a gray neural network optimized by the quantum genetic algorithm is more accurate for predicting the gas concentration. The overall prediction error is 9.12%, and the largest forecasting error is 11.36%; compared with gray neural network, the gas concentration prediction error increases by 55.23%. This means that the proposed method can better allow the coal mine rescue robot to accurately predict the gas concentration in the coal mine roadway.