智能系统学报2024，Vol.19Issue(6)：1449-1457,9.DOI:10.11992/tis.202306033
改进时间弹性带的露天矿无人卡车避障路径规划研究
Research on the obstacle avoidance path planning of unmanned truck in open-pit mine with improved time-elastic-bands
摘要
Abstract
To address the sudden and diverse obstacles on unstructured roads in open-pit mines,which greatly affect the path planning and safe operation of unmanned trucks,a path-planning algorithm based on improved timed elastic bands(TEB)is proposed.This algorithm streamlines the number of truck pose calculations and minimizes path-turning amp-litude by adjusting and fusing pose trajectory points.It also introduces a buffer layer between the obstacle expansion lay-er and the safe driving area to achieve optimal safe path planning in the static cost map,preventing local optimization in complex environments.Experimental results show that,when dealing with static obstacles,the proposed algorithm signi-ficantly improves the ability to safely navigate around obstacles compared with the traditional TEB algorithm.Further-more,it increases the average navigation speed,effectively ensuring the safe and efficient transportation of unmanned trucks in open-pit mines.关键词
露天矿/无人卡车/路径规划/改进TEB算法/避障规划/位姿轨迹点/静态代价地图/自主导航Key words
open-pit mine/unmanned trucks/path planning/improved TEB algorithm/obstacle avoidance planning/pose trajectory points/static cost map/autonomous navigation分类
信息技术与安全科学引用本文复制引用
阮顺领,赵微,辛智,顾清华,刘梓浩..改进时间弹性带的露天矿无人卡车避障路径规划研究[J].智能系统学报,2024,19(6):1449-1457,9.基金项目
国家自然科学基金项目(52074205) （52074205）
陕西省自然科学联合基金项目(2019JLP-16) （2019JLP-16）
陕西省技术创新引导专项基金重点研发计划项目(2023GXLH-062). （2023GXLH-062）
