A continuous path planning method based on B-spline curves and curvature for loading truck in mining areas
The task of loading truck is to load from the entry point to the loading point and then leave the mine.Before entering the loading point,the truck needs to change the direction at turning point.Aiming at the task characteris-tics of loading truck,a path planning method based on B-spline curve and curvature is proposed in mining areas in this paper.First,the cost function of the A∗algorithm is designed based on truck motion model,and the discrete paths related to the turning radius of the truck are obtained.In order to further obtain the continuous path of the loading truck,the improved B-spline curve is proposed,so that the tangents at both ends of the continuous path conform to the poses of the truck's starting and ending points.Subsequently,the simulated annealing algorithm is used to obtain the turning point of the truck so that the truck can change its heading before entering the loading point.The simulation results show that the continuous path planning method can ensure the generation of a loading truck path with continuous curvature.And both ends of the path conform to the pose of truck at the starting point and the end point,which provides a basis for the automatic driving technology of loading truck in mining areas.
loading truckpath planningA∗ algorithmB-splineturning point
国家科技期刊平台
NSTL
万方数据
维普
