摘要
Abstract
In view of the fact that the current deep-sea cobalt crust mining vehicle fails to achieve the comprehensive optimal of planning time and distance cost during mining,an improved jump point search(JPS)algorithm is proposed as a global path planning algorithm.On the basis of the analysis of the slope-crossing dynamics of mining vehicles,the raster maps of nodule mining areas with different slopes are simulated,and the dynamic JPS algorithm is used to complete the path planning.The Bezier curve is used to smooth the path to reduce and optimize the turning angle,and the minimum turning radius constraint is set to reduce the turning frequency of the mining vehicle.Finally,the simulation results show that,in comparison with the other four algorithms,the improved JPS algorithm reduces the planning time by 40%,and improves the planning path length and smoothness by 5%and 10%,respectively.Its exploration efficiency has been improved greatly in comparison with that of the one-way JPS algorithm.It is proved that the proposed algorithm is of real-time property and excellence in path planning ability.关键词
深海作业/采矿车/动力学/路径规划/跳点搜索算法/平滑度优化Key words
deep-sea operation/mining vehicle/dynamics/path planning/JPS algorithm/smoothness optimization分类
信息技术与安全科学
