Improved bulldozers path planning based on A* algorithm and fuzzy tracking method
The bulldozer is a part of construction machinery and equipment,commonly used in large and medium-sized freight terminals,mines,power plants,and other locations to clean up bulk cargo. It plays a crucial role in impro-ving the efficiency of production activities. However,traditional manual operations face challenges such as high physical exertion and harsh working environments. To tackle these challenges and accomplish automated opera-tions,this paper utilizes the conjugate gradient algorithm to smooth the path for solving the problem of excessive turning points in the A* algorithm-planned path,resulting in smoother operation. Additionally,the Dubins curve is incorporated to reduce planning time. To address incomplete modeling and meet the requirement for automatic operation,a fuzzy tracking controller is employed to minimize tracking errors. The automatic system has been tested in real-world environments with promising results:compared with the A* algorithm,there is an average increase of over 35％ in path planning speed while maintaining control error within acceptable limits.
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