露天矿区四轮转向车辆装载停靠路径规划算法  

Algorithm of loading and parking path planning for four-wheel steering vehicles in open-pit mines

作　　者：周彬[1,2] 王闯 李一鸣[1] 陈闯 王俊华[3] 王宏伟 ZHOU Bin;WANG Chuang;LI Yiming;CHEN Chuang;WANG Junhua;WANG Hongwei(Beihang University,Beijing 100191,China;Beijing Tage IDriver Technology Co.,Ltd.,Beijing 100191,China;Inner Mongolia Power Investment Energy Co.,Ltd.,Huolinguole 029200,China)

机构地区：[1]北京航空航天大学,北京100191 [2]北京踏歌智行科技有限公司,北京100191 [3]内蒙古电投能源股份有限公司,内蒙古霍林郭勒029200

出　　处：《露天采矿技术》2023年第4期1-6,共6页Opencast Mining Technology

基　　金：国家重点研发计划资助项目(2022YFB4703702)。

摘　　要：在露天矿区的无人驾驶车辆装载作业过程中,无人驾驶系统规划模块需要根据装载任务生成车辆停靠路径。结合四轮转向车辆特性,提出了一种高效装载停靠路径规划算法;采用Hybrid A*算法搜索停靠路径并构建二次优化模型用于路径的平滑,输出与道路边界无碰撞、满足最大曲率约束的停靠路径,最后进行了实验验证。结果表明:算法可在狭窄区域内快速生成停靠路径,缩短了车辆停靠路径长度,从而提高生产作业效率。During the loading operation of driverless vehicles in the open-pit mining area,the driverless system planning module needs to generate the vehicle parking path according to the loading task.This article proposes an efficient loading and parking path planning algorithm based on the characteristics of four-wheel steering vehicles.Hybrid A*algorithm is used to search the parking path and build a quadratic optimization model for path smoothing.The parking path that does not collide with the road boundary and meets the maximum curvature constraint is output.Finally,experimental verification is carried out.The results show that this algorithm can quickly generate parking paths in narrow areas,shorten the length of vehicle parking paths,and improve production efficiency.

关 键 词：露天矿区 无人驾驶 四轮转向车辆 路径规划 停靠规划 

分 类 号：TD571[矿业工程—矿山机电]