Research on Hybrid A* Based Path Optimization of Unmanned Mine Truck
In order to improve the adaptability of hybrid A* algorithm to mining scene, this paper proposes a path optimization method for unmanned mine trucks. Firstly, applicability and curvature continuity of initial solution of hybrid A* algorithm are improved by curvature continuous Reeds-Shepp screening...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Control and Information Technology
2022-10-01
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| Series: | Kongzhi Yu Xinxi Jishu |
| Subjects: | |
| Online Access: | http://ctet.csrzic.com/thesisDetails#10.13889/j.issn.2096-5427.2022.05.009 |
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| Summary: | In order to improve the adaptability of hybrid A* algorithm to mining scene, this paper proposes a path optimization method for unmanned mine trucks. Firstly, applicability and curvature continuity of initial solution of hybrid A* algorithm are improved by curvature continuous Reeds-Shepp screening in combination with mining scenes, and then the segmented spline curve numerical optimization method based on quadratic programming is used to further smooth and interpolate the searched path. This method can be applied to the screening and smooth optimization of the initial solution of path planning, and provides a safe, smooth and drivable path for unmanned mine trucks that satisfies the kinematic constraints of the vehicle. The results of simulation comparison test and on site vehicle test show that the proposed method can significantly improve the applicability and smoothness of the search path by the traditional hybrid A* algorithm, and the optimization efficiency is better than the traditional discrete point optimization. |
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| ISSN: | 2096-5427 |