关键词: 矿井应急管理　改进A?算法　虚拟现实　路径规划　避障优化

Abstract: In mine emergency incidents,traditional emergency route planning suffers from insufficient dynamic adaptabil ity,low computational efficiency,and the lack of visual interaction,which seriously threatens the safety of miners.To address these issues,a mine emergency route design method integrating an improved A∗ algorithm and virtual reality technology is pro posed.Firstly,to overcome the limitations of the traditional A∗ algorithm in dynamic environments,a bidirectional search strate gy is adopted to optimize the path search efficiency,a dynamic cost function is introduced to enhance adaptability to changes in hazard sources,and a slope influence factor is combined to correct the three-dimensional path weights,thereby constructing a dynamic emergency route planning model.Secondly,a visual interaction system is developed by integrating VR technology, which realizes functions such as dynamic path adjustment,immersive drills,and remote command.Experiments show that the improved A∗ algorithm converges within 23 iterations,with a path design time of only 8.32 s and an obstacle avoidance success rate of 97.79%.Training based on virtual reality technology increases the miners' escape success rate to 95.1%,a 24.6% im provement over 2D map training.The research demonstrates that the proposed mine emergency route design scheme not only optimizes the efficiency of path planning but also enhances the adaptability to dynamic environments.Combined with the visual interaction and remote command functions of the VR system,miners can familiarize themselves with escape routes in an immer sive environment and improve their emergency rescue capabilities in sudden situations.

Key words: mine emergency management,improved A? algorithm,virtual reality,path planning,obstacle avoidance opti mization