Research on Navigation Path Planning for An Underground Load Haul Dump
The improved A * algorithm is a method of navigation path planning for articulated underground scrapers. Firstly, an environment model based on a mining Geographic Information System (GIS) map is established, and then combined with improved A * algorithm, the underground global path planning probl...
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| Format: | Article |
| Language: | English |
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Eastern Macedonia and Thrace Institute of Technology
2015-11-01
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| Series: | Journal of Engineering Science and Technology Review |
| Subjects: | |
| Online Access: | http://www.jestr.org/downloads/Volume8Issue5/fulltext85142015.pdf |
| _version_ | 1811310186303848448 |
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| author | Qi Yulong Meng Qingyong Tian Xu |
| author_facet | Qi Yulong Meng Qingyong Tian Xu |
| author_sort | Qi Yulong |
| collection | DOAJ |
| description | The improved A * algorithm is a method of navigation path planning for articulated underground scrapers. Firstly, an
environment model based on a mining Geographic Information System (GIS) map is established, and then combined with
improved A * algorithm, the underground global path planning problem of the intelligent Load Haul Dump (LHD) is
solved. In this paper, for the articulated structure, the method of expanding nodes by articulation angle is adopted to make
expanded nodes meet the trajectory characteristics. In addition, collision threat cost is introduced in the evaluation
function to avoid collisions between the LHD and the tunnel walls. As peran analysis of the simulation test to verify the
effectiveness of the improved A * algorithm and a comparison with the traditional A * algorithm, the improved A *
algorithm can enhance search efficiency. Acontrast of multiple sets of test parameters suggests that when the price
weighted coefficient of collision is 0.2, the shortest path can be derived to avoid impact. Finally, tracking results indicate
that the proposed algorithm for navigation path planning can maintain the tracking error to within 0.2 m in line with the
structural characteristics of the scraper in the laboratory environment to realize the path planning of unmanned scrapers
and trajectory tracking. Moreover, the algorithm can enhance the safety of scrapers and prevent roadway collisions. The
feasibility and practicality of the proposed method is verified in this work. |
| first_indexed | 2024-04-13T09:54:56Z |
| format | Article |
| id | doaj.art-8de8a324b2344c238b64098f3639a5ae |
| institution | Directory Open Access Journal |
| issn | 1791-2377 1791-2377 |
| language | English |
| last_indexed | 2024-04-13T09:54:56Z |
| publishDate | 2015-11-01 |
| publisher | Eastern Macedonia and Thrace Institute of Technology |
| record_format | Article |
| series | Journal of Engineering Science and Technology Review |
| spelling | doaj.art-8de8a324b2344c238b64098f3639a5ae2022-12-22T02:51:28ZengEastern Macedonia and Thrace Institute of TechnologyJournal of Engineering Science and Technology Review1791-23771791-23772015-11-0185102109Research on Navigation Path Planning for An Underground Load Haul DumpQi Yulong0Meng Qingyong1Tian Xu2Jiangsu Xuzhou Construction Machinery Research Institute, Xuzhou 221004, China School of mechanical engineering, the university of Science and Technology Beijing, 100083, China Department of Mechanical and Mechatronics Engineering, University of Waterloo, Waterloo N2L3G1, CanadaThe improved A * algorithm is a method of navigation path planning for articulated underground scrapers. Firstly, an environment model based on a mining Geographic Information System (GIS) map is established, and then combined with improved A * algorithm, the underground global path planning problem of the intelligent Load Haul Dump (LHD) is solved. In this paper, for the articulated structure, the method of expanding nodes by articulation angle is adopted to make expanded nodes meet the trajectory characteristics. In addition, collision threat cost is introduced in the evaluation function to avoid collisions between the LHD and the tunnel walls. As peran analysis of the simulation test to verify the effectiveness of the improved A * algorithm and a comparison with the traditional A * algorithm, the improved A * algorithm can enhance search efficiency. Acontrast of multiple sets of test parameters suggests that when the price weighted coefficient of collision is 0.2, the shortest path can be derived to avoid impact. Finally, tracking results indicate that the proposed algorithm for navigation path planning can maintain the tracking error to within 0.2 m in line with the structural characteristics of the scraper in the laboratory environment to realize the path planning of unmanned scrapers and trajectory tracking. Moreover, the algorithm can enhance the safety of scrapers and prevent roadway collisions. The feasibility and practicality of the proposed method is verified in this work.http://www.jestr.org/downloads/Volume8Issue5/fulltext85142015.pdfunmanned underground scraperpath planningA * algorithm _____________ |
| spellingShingle | Qi Yulong Meng Qingyong Tian Xu Research on Navigation Path Planning for An Underground Load Haul Dump Journal of Engineering Science and Technology Review unmanned underground scraper path planning A * algorithm _____________ |
| title | Research on Navigation Path Planning for An Underground Load Haul Dump |
| title_full | Research on Navigation Path Planning for An Underground Load Haul Dump |
| title_fullStr | Research on Navigation Path Planning for An Underground Load Haul Dump |
| title_full_unstemmed | Research on Navigation Path Planning for An Underground Load Haul Dump |
| title_short | Research on Navigation Path Planning for An Underground Load Haul Dump |
| title_sort | research on navigation path planning for an underground load haul dump |
| topic | unmanned underground scraper path planning A * algorithm _____________ |
| url | http://www.jestr.org/downloads/Volume8Issue5/fulltext85142015.pdf |
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