基于采矿车动力学分析的改进A^(*)算法全局路径规划  

The Global Path Planning of Improved A^(*)Algorithm Based on Dynamic Analysis of Mining Vehicle

作　　者：陈昱衡 吴鸿云 郭旭 陈英皞 陈秉正 CHEN Yuheng;WU Hongyun;GUO Xu;CHEN Yinghao;CHEN Bingzheng(Changsha Institute of Mining Research Co.,Ltd,Changsha,Hunan 410012,China;College of Mechatronics Engineering,Central South University,Changsha,Hunan 410012,China;School of Mathematics and Statistic,Central South University,Changsha,Hunan 410012,China)

机构地区：[1]长沙矿山研究院有限责任公司,湖南长沙410012 [2]中南大学机电工程学院,湖南长沙410083 [3]中南大学数学与统计学院,湖南长沙410075

出　　处：《矿业研究与开发》2021年第2期170-177,共8页Mining Research and Development

基　　金：“十三五”国家重点研发计划课题(2016YFC0304102).

摘　　要：为了在综合考虑时间和路程代价下规划一条用于多金属结核采矿车避障的最优路径,提出了一种改进的A^(*)算法的全局路径规划。基于采矿车越坡的动力学分析,计算不同坡度的越坡时间,构建体现多金属结核矿区独特地形元素的模拟栅格地图。引入参数a^(*),传统A^(*)算法的代价函数g(k)被改进为距离代价函数和时间代价函数的加权和。采用曲线拟合法和多余节点删除法避免了折弯处的45°急转从而平滑路径。仿真结果表明,通过选择合适的参数a^(*),改进A^(*)算法可以规划出综合考虑时间和路程代价的平滑避障路径。以越坡数和路径消耗为评价指标,得到了改进A^(*)算法代价函数中参数a^(*)的最优取值为0<a^(*)≤0.01。In order to generate an optimal path for mining vehicles to avoid obstacles under considering the cost of time and distance,aglobal path planning of improved A^(*)algorithm was proposed.Based on the dynamic analysis of mining vehicle climbing,climbing time under different slopes was calculated,a simulation grip map reflecting unique terrain elements of polymetallic nodule mining area was constructed.Through introducing parameter a^(*),the cost function g(k)of traditional A^(*)algorithm was changed into the weighted sum of distance cost function and time cost function.Curve fitting and redundant node deletion method were adopted to avoid 45°sharp turn around corners,so as to smooth the path.The simulation results show that by choosing appropriate parameter a^(*),the improved A^(*)algorithm can generate a smooth obstacle avoidance path considering the cost of time and distance.Taking the number of crossings and path consumption as evaluation indicators,the optimal value of parameter a^(*)in the cost function of the improved A^(*)algorithm is 0<a^(*)≤0.01.

关 键 词：海底采矿车 改进A^(*)算法 路径规划 动力学分析 多金属结核 

分 类 号：TD424[矿业工程—矿山机电]