基于深海钴结壳采矿车的路径规划方法研究  

Research on path planning method based on deep-sea cobalt crust mining vehicle

作　　者：杨长兵 YANG Changbing(Lianyungang Center,Taihu Laboratory of Deepsea Technological Science,Lianyungang 222000,China)

机构地区：[1]深海技术科学太湖实验室连云港中心,江苏连云港222000

出　　处：《现代电子技术》2024年第11期113-117,共5页Modern Electronics Technique

摘　　要：针对目前深海钴结壳采矿车在采矿时无法达到规划时间和路程代价综合最优,提出一种改进的跳点搜索算法作为全局路径规划算法。首先,基于对采矿车越坡动力学的分析,模拟了具有不同坡度的结核矿区栅格地图,并利用动态跳点搜索算法完成路径规划;其次,采用贝塞尔曲线来平滑路径以减少和优化转弯角度,并设定了最小转弯半径约束以减小采矿车的转弯频率;最后,通过仿真结果表明,改进后的跳点搜索算法相较于其他4种算法,在规划时间上缩短了40%,在规划路径长度和平滑度方面得到5%和10%的提升,相较于单向跳点搜索算法在探索效率上得到较大提升,最终证明了该算法在路径规划时的实时性和路径规划能力的优异性。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 

分 类 号：TN99-34[电子电信—信号与信息处理]