摘要
提出一种基于改进A*算法的铰接式地下铲运机导航路径规划方法。针对地下铲运机的铰接结构,采用按铰接角扩展节点的方法,使扩展节点符合铲运机的轨迹特性;针对巷道狭窄,易于发生碰撞的问题,在估价函数中引入了碰撞威胁代价,避免铲运机与巷道壁发生碰撞。通过仿真试验分析比较了传统A*算法和所提出的改进A*算法的搜索性能,验证了改进A*算法可提高搜索效率。通过多组试验参数比较表明,当碰撞代价加权系数为0.2时,可以得到在避免碰撞情况下的最短路径。最后在实验室环境下实现了无人铲运机的路径规划及轨迹跟踪。跟踪结果表明,采用所提出的算法规划的导航路径,符合铲运机的结构特性,使跟踪误差保持在0.2 m之内,同时也可使铲运机不与巷道发生碰撞,实现安全行驶,验证了所提方法的可行性和实用性。
An improved A＊ algorithm based path planning method for unmanned underground load-hauldump（ LHD） was proposed and verified. According to the articulated structure of the underground LHD,the nodes were expanded by the articulated angle,which makes the expended nodes match the trajectory characteristic of the LHD. In order to avoid collision,collision threat cost was designed and added into the evaluation function,which makes the navigation path exclude against the walls. Simulation and comparison results between the improved A＊ algorithm and tranditional one show that the improved A＊ algorithm is more efficient,and the shortest path without collision can be obtained when the weighting coefficient is 0. 2. Moreover,a path planning and tracking test is carried out in lab environment. It is shown that the tracking precision can keep in a small range and the LHD can run without collision when the navigation path is given by the proposed algorithm,which proves the effectiveness and feasibility of the proposed algorithm.
出处
《农业机械学报》
EI
CAS
CSCD
北大核心
2015年第7期303-309,共7页
Transactions of the Chinese Society for Agricultural Machinery
基金
'十二五'国家科技支撑计划资助项目(2013BAB02B07)
国家高技术研究发展计划(863计划)资助项目(2011AA060408)
