Research on optimal changing path planning for unmanned single-drum rollers
To ensure that the single-drum roller maintains stable steering during lane-changing compaction and guarantees com-paction quality,a lane-changing path planning method was introduced.In this method,the smoothness of the single-drum roller's lane-changing trajectory,stability of steering,and energy consumption during lane-changing operations were taken as optimization objectives.5th-order Bezier curve was used as the lane changing path curve.An articulated kinematic model was developed to es-tablish a correspondence between the states of the lane-changing path points.The Light Spectrum Optimizer(LSO)algorithm was employed to optimize the coordinates of unknown key control points in the 5th-order Bezier curve,resulting in an approximate op-timal lane-changing path.Taking a certain type of single-drum roller as an example,it is shown by simulation and test results that the curves planned by this method have a heading angle and curvature of 0 at both the starting and ending points,with continuous curvature throughout the entire trajectory.This complies with the operational requirements of the single-drum roller.In comparison to document[10]methods,the optimal changing path curves planned by this method exhibit a reduction of 3.8％in maximum lateral error and 16.7％in average lateral error.Furthermore,the maximum curvature and average curvature decrease by 18.0％and 9.3％respectively.The average fuel consumption of the vehicle also diminishes by 3.8％.The research outcomes provide practical application reference value for unmanned operation of single-drum roller.
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