Research Article
Escape-Route Planning of Underground Coal Mine Based on Improved Ant Algorithm
Table 7
Experimental data.
| | Start point | End point | Tunnel type influence | Wind speed (m/s) | Angle of slope (°) | Special factors influence | The lowest height of smoke layer (m) | Visibility distance (m) | Body interval (m) | Length (m) |
| | 31 | 30 | ∞ | 0 | 0 | 1 | 6 | 20 | 1 | 40 | | 30 | 32 | 1 | 10.3 | 10 | 1 | 6 | 20 | 0.8 | 35 | | 32 | 33 | 1 | 5.6 | 0 | 1 | 6 | 20 | 0.8 | 242 | | 35 | 12 | 0.5 | 9.4 | 0 | 1 | 5 | 20 | 0.8 | 80 | | 12 | 37 | 1 | 10.3 | 10 | ∞ | 5 | 20 | 0.8 | 281 | | 37 | 38 | 1 | 10.4 | 0 | 1 | 5 | 20 | 0.8 | 135 | | 38 | 40 | 1 | 10.4 | 0 | 1 | 5 | 20 | 0.8 | 43 | | 40 | 42 | 0.5 | 10.2 | 0 | 1 | 5 | 20 | 0.8 | 28 | | 45 | 46 | 1 | 0 | 0 | 1 | 5 | 20 | 0.8 | 136.4 | | 46 | 40 | 1 | 0.3 | −20 | 1 | 5 | 20 | 1 | 70.6 | | 46 | 38 | 1 | 0.3 | −20 | 1 | 6 | 20 | 1 | 27.6 | | 42 | 129 | 1 | 6.4 | 0 | 1 | 6 | 20 | 1 | 194 | | 50 | 51 | 0.5 | 10.9 | 0 | 1 | 6 | 20 | 1 | 40 | | 52 | 51 | 1 | 0 | 0 | ∞ | 6 | 20 | 1 | 56 | | 51 | 53 | 1 | 10.9 | 0 | 1 | 6 | 20 | 1 | 120 | | 50 | 52 | 1 | 0 | 0 | 1 | 6 | 20 | 1 | 40 | | 1 | 45 | 0.5 | 3.3 | 10 | 1 | 6 | 20 | 1 | 670 | | 45 | 55 | 0.5 | 2.5 | 0 | 1 | 6 | 20 | 1 | 67 | | 56 | 37 | 0.5 | 0.6 | 0 | 1 | 3 | 20 | 1 | 40 | | 56 | 55 | 0.5 | 4.9 | 0 | 1 | 3 | 20 | 1 | 131.5 | | 55 | 57 | 0.5 | 0.1 | 0 | 1 | 3 | 20 | 1 | 50 | | 57 | 58 | 0.5 | 10.9 | 0 | 1 | 3 | 20 | 1 | 100 | | 59 | 58 | 0.5 | 0.6 | 0 | 1 | 3 | 20 | 1 | 100 | | 58 | 60 | 0.5 | 4.9 | 15 | 1 | 3 | 20 | 1 | 580 | | 61 | 59 | 0.5 | 0 | 0 | 1 | 3 | 20 | 1 | 45 | | 36 | 61 | 0.5 | 10.5 | 0 | 1 | 3 | 20 | 1 | 517 | | 61 | 62 | 1 | 10.6 | 0 | 1 | 6 | 20 | 1 | 28 | | 62 | 63 | 1 | 0.2 | 0 | 1 | 6 | 20 | 1 | 40 | | 63 | 57 | 1 | 10.4 | 0 | 1 | 6 | 20 | 1 | 85 | | 65 | 59 | 1 | 0.6 | 0 | 1 | 6 | 20 | 1 | 26 | | 126 | 65 | 1 | 0 | 0 | 1 | 6 | 20 | 1 | 20 | | 66 | 65 | 1 | 0.4 | −15 | 1 | 6 | 20 | 1 | 40 | | 67 | 66 | 1 | 0.5 | 0 | 1 | 6 | 20 | 1 | 72 | | 62 | 67 | 1 | 10 | 0 | 1 | 6 | 20 | 1 | 27 | | 67 | 237 | 1 | 10.8 | 0 | 1 | 6 | 20 | 1 | 348 | | 69 | 68 | 0.5 | 1.9 | 0 | 1 | 6 | 20 | 1 | 20 | | 71 | 70 | 0.5 | 0 | 0 | 1 | 6 | 15 | 1 | 15 | | 72 | 70 | 0.5 | 1.6 | 0 | ∞ | 6 | 20 | 0.7 | 30 | | 74 | 63 | 0.5 | 11 | 0 | 1 | 3 | 20 | 0.7 | 375 | | 69 | 75 | 0.5 | 0 | 0 | 1 | 3 | 20 | 0.7 | 20 | | 76 | 74 | 0.5 | 10.4 | 20 | 1 | 3 | 20 | 0.7 | 50 | | 75 | 76 | 0.5 | 10.4 | 0 | 1 | 3 | 20 | 0.7 | 22 | | 77 | 76 | 0.5 | 0 | 20 | 1 | 3 | 20 | 0.7 | 40 | | 78 | 77 | 0.5 | 2.8 | 0 | 1 | 3 | 20 | 0.7 | 25 | | 129 | 78 | 1 | 6.4 | 0 | 1 | 3 | 20 | 0.7 | 223 | | 52 | 79 | 1 | 0 | 0 | 1 | 3 | 20 | 0.7 | 460 | | 125 | 92 | 1 | 0 | 0 | 1 | 3 | 20 | 0.7 | 35 | | 80 | 93 | 1 | 0 | 20 | 1 | 6 | 20 | 0.7 | 90 | | 82 | 84 | 0.5 | 2.7 | 0 | 1 | 6 | 20 | 0.7 | 40 | | 83 | 81 | 0.5 | 2.6 | 0 | 1 | 6 | 20 | 1.5 | 240 | | 84 | 83 | 0.5 | 2.7 | 0 | 1 | 6 | 20 | 1.5 | 630 | | 128 | 56 | 0.5 | 5.6 | 0 | 1 | 6 | 20 | 1.5 | 300 | | 87 | 86 | 0.5 | 4.3 | 0 | 1 | 5 | 20 | 1.5 | 25 | | 88 | 87 | 0.5 | 3 | 0 | 1 | 5 | 20 | 1.5 | 20 | | 33 | 88 | 0.5 | 2.1 | 0 | 1 | 5 | 20 | 1.5 | 47 | | 33 | 89 | 1 | 3.4 | 0 | 1 | 5 | 20 | 1.5 | 27 | | 89 | 90 | 1 | 2.5 | 0 | 1 | 5 | 20 | 1.5 | 20 | | 90 | 86 | 1 | 1.6 | 0 | 1 | 5 | 20 | 1.5 | 45 | | 90 | 87 | 1 | 0 | 0 | 1 | 5 | 20 | 1.5 | 20 | | 89 | 88 | 1 | 1.3 | 0 | 1 | 5 | 20 | 1.5 | 20 | | 31 | 91 | 1 | 4 | −20 | 1 | 5 | 20 | 1.5 | 286 | | 81 | 93 | 1 | 2.6 | 0 | 1 | 6 | 20 | 1.5 | 640 | | 93 | 94 | 1 | 2.7 | 0 | 1 | 6 | 20 | 1.5 | 35 | | 53 | 80 | 1 | 10.9 | 0 | 1 | 6 | 20 | 1.5 | 90 | | 80 | 82 | 1 | 10.9 | 0 | 1 | 6 | 20 | 1.5 | 204 | | 77 | 99 | 1 | 4.7 | 0 | 1 | 6 | 20 | 1.5 | 254 | | 80 | 77 | 1 | 2 | 0 | 1 | 6 | 20 | 1.5 | 40 | | 82 | 96 | 0.5 | 9.1 | 0 | 1 | 6 | 20 | 1.5 | 61 | | 96 | 97 | 1 | 8.5 | 15 | 1 | 6 | 20 | 1.5 | 40 | | 97 | 98 | 1 | 0 | 0 | 1 | 6 | 20 | 1.5 | 196 | | 99 | 98 | 1 | 3.5 | 0 | 1 | 6 | 20 | 1.2 | 80 | | 96 | 99 | 1 | 0.6 | 15 | 1 | 3 | 20 | 1.2 | 40 | | 99 | 110 | 1 | 1.9 | 0 | ∞ | 3 | 20 | 1.2 | 29.2 | | 98 | 101 | 1 | 3.4 | 15 | 1 | 3 | 20 | 1.2 | 40 | | 101 | 102 | 1 | 0.1 | 0 | 1 | 3 | 20 | 1.2 | 265.2 | | 103 | 241 | 0.5 | 3.1 | 0 | 1 | 3 | 20 | 1.2 | 163.3 | | 104 | 103 | 1 | 5.3 | −20 | 1 | 3 | 20 | 1.2 | 21.2 | | 105 | 104 | 0.5 | 3.7 | 0 | 1 | 3 | 20 | 1.2 | 110 | | 106 | 105 | 0.5 | 10.8 | 0 | 1 | 3 | 20 | 1.2 | 40 | | 106 | 107 | 1 | 0.1 | 0 | 1 | 3 | 20 | 1.2 | 75 | | 98 | 107 | 1 | 0.1 | −15 | 1 | 3 | 20 | 1.2 | 50 | | 102 | 107 | 1 | 10.1 | 0 | 1 | 6 | 20 | 1.2 | 85 | | 107 | 108 | 1 | 10.1 | 0 | 1 | 6 | 20 | 1.2 | 218.2 | | 109 | 108 | 0.5 | 8.1 | 0 | 1 | 6 | 20 | 1.2 | 50 | | 110 | 106 | 0.5 | 10.8 | 0 | 1 | 6 | 20 | 1.2 | 70 | | 68 | 110 | 1 | 10.2 | 0 | 1 | 6 | 20 | 1.2 | 243 | | 110 | 100 | 1 | 1.1 | 10 | 1 | 6 | 5 | 1.2 | 5 | | 71 | 112 | 0.5 | 1.7 | 0 | 1 | 6 | 20 | 1.2 | 128 | | 72 | 71 | 0.5 | 2.4 | 0 | 1 | 6 | 14 | 1.2 | 14 | | 112 | 68 | 0.5 | 0.8 | 0 | 1 | 6 | 11 | 1.2 | 11 | | 237 | 113 | 1 | 4.3 | 0 | 1 | 5 | 20 | 0.8 | 65.1 | | 113 | 141 | 1 | 2 | 10 | 1 | 5 | 20 | 0.8 | 248 | | 1 | 131 | 1 | 0.1 | −15 | 1 | 5 | 20 | 0.8 | 50 | | 60 | 115 | 1 | 10.3 | 0 | 1 | 5 | 20 | 0.8 | 50 | | 105 | 241 | 1 | 8.1 | 0 | 1 | 5 | 20 | 0.8 | 130 | | 35 | 91 | 1 | 9.5 | 10 | 1 | 5 | 20 | 0.8 | 40 | | 91 | 138 | 0.5 | 10.4 | 0 | 1 | 5 | 20 | 0.8 | 40 | | 108 | 75 | 0.5 | 10.7 | 20 | 1 | 5 | 20 | 0.8 | 95 | | 78 | 72 | 0.5 | 3 | 0 | 1 | 5 | 7.6 | 0.8 | 7.6 | | 81 | 94 | 1 | 0 | 0 | 1 | 5 | 20 | 0.8 | 690 | | 94 | 125 | 1 | 2.7 | 0 | 1 | 5 | 20 | 0.8 | 61.2 | | 53 | 125 | 1 | 0 | 0 | 1 | 5 | 20 | 0.8 | 57 | | 125 | 74 | 1 | 2.7 | −20 | 1 | 5 | 20 | 0.8 | 530 | | 127 | 126 | 0.5 | 0 | 0 | 1 | 5 | 20 | 0.8 | 40 | | 66 | 127 | 0.5 | 0 | 20 | 1 | 5 | 15 | 0.8 | 15 | | 86 | 128 | 0.5 | 5.9 | 0 | 1 | 6 | 20 | 0.8 | 24.7 | | 50 | 129 | 1 | 0 | 0 | 1 | 6 | 20 | 0.8 | 40 | | 70 | 69 | 1 | 1.8 | 20 | 1 | 6 | 20 | 0.8 | 65 | | 131 | 60 | 1 | 0 | 0 | 1 | 6 | 20 | 0.8 | 20 | | 1 | 115 | 0.5 | 10.4 | −15 | 1 | 6 | 20 | 0.8 | 25 | | 32 | 34 | 0.5 | 10 | 0 | 1 | 6 | 20 | 0.8 | 100 | | 136 | 34 | 0.5 | 0 | 0 | 1 | 6 | 20 | 0.8 | 46.1 | | 136 | 137 | 1 | 10.1 | 0 | 1 | 6 | 20 | 0.8 | 210 | | 137 | 35 | 1 | 11 | 0 | 1 | 6 | 20 | 0.8 | 41.4 | | 138 | 36 | 1 | 10.4 | 0 | 1 | 6 | 20 | 0.8 | 39 | | 112 | 139 | 1 | 0 | 0 | 1 | 6 | 20 | 0.8 | 26 | | 100 | 109 | 1 | 4.3 | 0 | 1 | 6 | 20 | 0.8 | 40 | | 142 | 145 | 0.5 | 0 | 0 | 1 | 6 | 20 | 0.8 | 52.2 | | 144 | 145 | 0.5 | 0 | 0 | 1 | 6 | 20 | 0.8 | 71 | | 143 | 144 | 0.5 | 0 | 0 | 1 | 6 | 20 | 0.8 | 71 | | 141 | 143 | 0.5 | 0.4 | 0 | ∞ | 6 | 20 | 0.8 | 71 | | 148 | 140 | 1 | 1.4 | 0 | 1 | 6 | 20 | 0.8 | 52.2 | | 147 | 148 | 1 | 0 | −10 | 1 | 6 | 20 | 0.6 | 71 | | 146 | 147 | 1 | 0 | −10 | 1 | 5 | 20 | 0.6 | 71 | | 139 | 146 | 1 | 0.4 | 0 | 1 | 5 | 20 | 0.6 | 71 | | 143 | 146 | 1 | 0 | 0 | 1 | 5 | 20 | 0.6 | 25 | | 144 | 147 | 1 | 0 | 0 | 1 | 5 | 20 | 0.6 | 25 | | 145 | 148 | 1 | 0 | 0 | 1 | 5 | 20 | 0.6 | 25 | | 149 | 150 | 0.5 | 4.4 | 0 | 1 | 5 | 20 | 0.6 | 265.2 | | 141 | 151 | 0.5 | 2.2 | 20 | 1 | 5 | 20 | 0.6 | 150 | | 152 | 153 | 0.5 | 2.3 | 20 | 1 | 5 | 20 | 0.6 | 165 | | 153 | 154 | 0.5 | 2.3 | 0 | 1 | 5 | 20 | 0.6 | 160 | | 154 | 149 | 1 | 4.3 | 0 | 1 | 5 | 20 | 0.6 | 20 | | 113 | 155 | 1 | 2.1 | 0 | 1 | 6 | 10 | 0.6 | 10 | | 155 | 156 | 1 | 2.1 | 0 | 1 | 6 | 20 | 0.6 | 159.6 | | 156 | 157 | 1 | 2.1 | 10 | 1 | 6 | 20 | 0.6 | 165.8 | | 157 | 158 | 1 | 2 | 0 | 1 | 6 | 20 | 0.6 | 155.1 | | 158 | 154 | 1 | 1.8 | 0 | 1 | 6 | 20 | 0.6 | 25.5 | | 157 | 153 | 1 | 0 | 0 | 1 | 6 | 20 | 0.6 | 26.9 | | 156 | 152 | 1 | 0 | 0 | 1 | 6 | 20 | 0.6 | 26.6 | | 155 | 151 | 1 | 0 | 0 | 1 | 6 | 20 | 0.6 | 27.9 | | 140 | 109 | 1 | 3.7 | 0 | 1 | 6 | 20 | 1 | 25.7 | | 142 | 140 | 1 | 2.6 | 0 | 1 | 6 | 20 | 1 | 25.2 | | 97 | 159 | 1 | 8.6 | −10 | 1 | 6 | 20 | 1 | 240 | | 159 | 160 | 1 | 4.1 | −10 | 1 | 6 | 20 | 1 | 44 | | 159 | 162 | 1 | 4.7 | 0 | 1 | 6 | 20 | 1 | 47 | | 162 | 163 | 1 | 2.6 | 0 | 1 | 6 | 14.4 | 1 | 14.4 | | 163 | 164 | 1 | 0 | 0 | 1 | 3 | 19 | 1 | 19 | | 162 | 164 | 1 | 1.7 | 0 | 1 | 3 | 20 | 1 | 33.4 | | 163 | 165 | 1 | 2.2 | 0 | 1 | 3 | 20 | 1 | 61.8 | | 164 | 165 | 1 | 2.4 | 0 | ∞ | 3 | 20 | 1 | 51.2 | | 165 | 104 | 1 | 4.6 | 20 | 1 | 3 | 20 | 1 | 92.3 | | 104 | 166 | 1 | 3 | 20 | 1 | 3 | 20 | 1 | 120 | | 166 | 167 | 1 | 2.7 | 0 | 1 | 3 | 20 | 1 | 157.9 | | 167 | 168 | 1 | 2.2 | 0 | 1 | 3 | 20 | 1 | 225.9 | | 168 | 169 | 1 | 2.2 | 0 | 1 | 3 | 20 | 1 | 201.4 | | 169 | 170 | 0.5 | 2.2 | 0 | 1 | 3 | 20 | 1 | 212.5 | | 170 | 171 | 0.5 | 2.2 | 0 | 1 | 3 | 20 | 1 | 202.8 | | 171 | 172 | 0.5 | 2.2 | 10 | 1 | 3 | 20 | 1 | 175.5 | | 172 | 173 | 0.5 | 2.2 | 10 | 1 | 3 | 20 | 1 | 197.5 | | 173 | 174 | 0.5 | 2.2 | 0 | 1 | 3 | 20 | 1 | 216.8 | | 174 | 175 | 1 | 2.2 | 0 | 1 | 3 | 20 | 1 | 203.9 | | 175 | 176 | 1 | 2.4 | 0 | 1 | 3 | 20 | 1 | 51.9 | | 176 | 177 | 1 | 0 | 0 | ∞ | 3 | 20 | 1 | 24.2 | | 177 | 178 | 1 | 0 | 0 | 1 | 6 | 20 | 1 | 23.5 | | 179 | 178 | 1 | 2.4 | 0 | 1 | 6 | 20 | 1 | 24.3 | | 179 | 176 | 1 | 0 | 0 | 1 | 6 | 20 | 1 | 23.5 | | 176 | 180 | 1 | 1.4 | 20 | 1 | 6 | 20 | 1 | 266.2 | | 180 | 181 | 1 | 1.4 | 0 | 1 | 6 | 20 | 1 | 1285.6 | | 182 | 100 | 1 | 3 | 0 | 1 | 6 | 20 | 1 | 9.2 | | 183 | 182 | 1 | 1.9 | 0 | 1 | 6 | 20 | 1 | 24.9 | | 184 | 183 | 1 | 2.6 | 0 | 1 | 6 | 20 | 1 | 151.2 | | 185 | 184 | 1 | 1.3 | 0 | 1 | 6 | 20 | 1 | 203.5 | | 181 | 185 | 1 | 1.4 | 0 | 1 | 6 | 20 | 1 | 207.6 | | 186 | 142 | 1 | 3.1 | 0 | 1 | 6 | 20 | 1 | 132.7 | | 187 | 186 | 1 | 4.4 | 0 | ∞ | 6 | 20 | 1 | 203.6 | | 188 | 187 | 1 | 4.4 | 0 | 1 | 6 | 20 | 1 | 209 | | 150 | 188 | 1 | 4.4 | 0 | 1 | 6 | 20 | 1 | 112.9 | | 181 | 188 | 1 | 0 | −15 | 1 | 6 | 20 | 1 | 29.2 | | 187 | 185 | 1 | 0 | 0 | 1 | 6 | 20 | 1 | 30.3 | | 186 | 184 | 1 | 1.8 | 0 | 1 | 6 | 20 | 1 | 30.3 | | 101 | 160 | 1 | 1.2 | 0 | 1 | 6 | 20 | 1 | 240 | | 103 | 190 | 1 | 2.1 | 10 | 1 | 6 | 20 | 1 | 25 | | 167 | 190 | 1 | 0 | 10 | 1 | 6 | 20 | 1 | 29.3 | | 190 | 191 | 0.5 | 2.7 | 0 | 1 | 5 | 20 | 1 | 215.6 | | 191 | 168 | 0.5 | 0 | 0 | 1 | 5 | 20 | 1 | 35.8 | | 191 | 192 | 0.5 | 2.6 | 0 | 1 | 5 | 20 | 1 | 211.5 | | 169 | 192 | 0.5 | 0 | 0 | 1 | 5 | 20 | 1 | 29.2 | | 192 | 193 | 1 | 2.7 | 0 | ∞ | 5 | 20 | 1 | 216.4 | | 170 | 193 | 1 | 0 | 0 | 1 | 5 | 20 | 1 | 27.1 | | 193 | 194 | 1 | 2.6 | 0 | 1 | 5 | 20 | 1 | 200 | | 171 | 194 | 1 | 0 | 0 | 1 | 5 | 20 | 1 | 28.4 | | 194 | 195 | 1 | 2.7 | 0 | 1 | 5 | 20 | 1 | 174.2 | | 195 | 172 | 1 | 0 | 0 | 1 | 5 | 20 | 1 | 29.1 | | 195 | 196 | 1 | 2.7 | 0 | 1 | 6 | 20 | 1 | 195 | | 196 | 173 | 1 | 0 | 0 | 1 | 6 | 20 | 1 | 30.6 | | 196 | 197 | 1 | 2.7 | 0 | 1 | 6 | 20 | 1 | 219.3 | | 174 | 197 | 1 | 0 | 0 | 1 | 6 | 20 | 1 | 29.2 | | 197 | 198 | 1 | 2.7 | −10 | 1 | 6 | 20 | 1 | 197.3 | | 198 | 175 | 1 | 0 | −10 | 1 | 6 | 20 | 1 | 33.1 | | 198 | 179 | 1 | 2.4 | 0 | 1 | 6 | 20 | 1.4 | 74.6 | | 237 | 68 | 0.5 | 8.5 | 0 | 1 | 6 | 20 | 1.4 | 72 | | 183 | 238 | 0.5 | 0 | 0 | 1 | 6 | 20 | 1.4 | 77 | | 166 | 239 | 0.5 | 0.4 | 0 | ∞ | 6 | 20 | 1.4 | 101.5 | | 239 | 238 | 0.5 | 0 | 0 | 1 | 6 | 20 | 1.4 | 86.1 | | 239 | 240 | 0.5 | 0 | 0 | 1 | 6 | 20 | 1.4 | 112.9 | | 238 | 240 | 1 | 0 | 0 | 1 | 6 | 20 | 1.4 | 25.1 | | 240 | 182 | 1 | 0.8 | 0 | 1 | 6 | 20 | 1.4 | 77 | | 237 | 74 | 1 | 0 | 20 | 1 | 6 | 20 | 1.4 | 40 | | 241 | 102 | 1 | 0.1 | 0 | 1 | 6 | 20 | 1.4 | 40 |
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