A Path Planning Method for Underground Intelligent Vehicles Based on an Improved RRT* Algorithm
Path planning is one of the key technologies for unmanned driving of underground intelligent vehicles. Due to the complexity of the drift environment and the vehicle structure, some improvements should be made to adapt to underground mining conditions. This paper proposes a path planning method base...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-01-01
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| Series: | Electronics |
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| Online Access: | https://www.mdpi.com/2079-9292/11/3/294 |
| _version_ | 1797488382843027456 |
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| author | Hao Wang Guoqing Li Jie Hou Lianyun Chen Nailian Hu |
| author_facet | Hao Wang Guoqing Li Jie Hou Lianyun Chen Nailian Hu |
| author_sort | Hao Wang |
| collection | DOAJ |
| description | Path planning is one of the key technologies for unmanned driving of underground intelligent vehicles. Due to the complexity of the drift environment and the vehicle structure, some improvements should be made to adapt to underground mining conditions. This paper proposes a path planning method based on an improved RRT* (Rapidly-Exploring Random Tree Star) algorithm for solving the problem of path planning for underground intelligent vehicles based on articulated structure and drift environment conditions. The kinematics of underground intelligent vehicles are realized by vectorized map and dynamic constraints. The RRT* algorithm is selected for improvement, including dynamic step size, steering angle constraints, and optimal tree reconnection. The simulation case study proves the effectiveness of the algorithm, with a lower path length, lower node count, and 100% steering angle efficiency. |
| first_indexed | 2024-03-10T00:02:20Z |
| format | Article |
| id | doaj.art-709037bca61f4f57a350ae7630c1ab4c |
| institution | Directory Open Access Journal |
| issn | 2079-9292 |
| language | English |
| last_indexed | 2024-03-10T00:02:20Z |
| publishDate | 2022-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Electronics |
| spelling | doaj.art-709037bca61f4f57a350ae7630c1ab4c2023-11-23T16:14:33ZengMDPI AGElectronics2079-92922022-01-0111329410.3390/electronics11030294A Path Planning Method for Underground Intelligent Vehicles Based on an Improved RRT* AlgorithmHao Wang0Guoqing Li1Jie Hou2Lianyun Chen3Nailian Hu4College of Civil and Resource Engineering, University of Science and Technology Beijing, Beijing 100083, ChinaCollege of Civil and Resource Engineering, University of Science and Technology Beijing, Beijing 100083, ChinaCollege of Civil and Resource Engineering, University of Science and Technology Beijing, Beijing 100083, ChinaCollege of Civil and Resource Engineering, University of Science and Technology Beijing, Beijing 100083, ChinaCollege of Civil and Resource Engineering, University of Science and Technology Beijing, Beijing 100083, ChinaPath planning is one of the key technologies for unmanned driving of underground intelligent vehicles. Due to the complexity of the drift environment and the vehicle structure, some improvements should be made to adapt to underground mining conditions. This paper proposes a path planning method based on an improved RRT* (Rapidly-Exploring Random Tree Star) algorithm for solving the problem of path planning for underground intelligent vehicles based on articulated structure and drift environment conditions. The kinematics of underground intelligent vehicles are realized by vectorized map and dynamic constraints. The RRT* algorithm is selected for improvement, including dynamic step size, steering angle constraints, and optimal tree reconnection. The simulation case study proves the effectiveness of the algorithm, with a lower path length, lower node count, and 100% steering angle efficiency.https://www.mdpi.com/2079-9292/11/3/294underground intelligent vehiclespath planningRRT* algorithmarticulated vehiclesunmanned driving |
| spellingShingle | Hao Wang Guoqing Li Jie Hou Lianyun Chen Nailian Hu A Path Planning Method for Underground Intelligent Vehicles Based on an Improved RRT* Algorithm Electronics underground intelligent vehicles path planning RRT* algorithm articulated vehicles unmanned driving |
| title | A Path Planning Method for Underground Intelligent Vehicles Based on an Improved RRT* Algorithm |
| title_full | A Path Planning Method for Underground Intelligent Vehicles Based on an Improved RRT* Algorithm |
| title_fullStr | A Path Planning Method for Underground Intelligent Vehicles Based on an Improved RRT* Algorithm |
| title_full_unstemmed | A Path Planning Method for Underground Intelligent Vehicles Based on an Improved RRT* Algorithm |
| title_short | A Path Planning Method for Underground Intelligent Vehicles Based on an Improved RRT* Algorithm |
| title_sort | path planning method for underground intelligent vehicles based on an improved rrt algorithm |
| topic | underground intelligent vehicles path planning RRT* algorithm articulated vehicles unmanned driving |
| url | https://www.mdpi.com/2079-9292/11/3/294 |
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