Underground path planning of trackless rubber wheeled vehicle based on improved A*algorithm
With the wide application of trackless rubber wheeled vehicle in coal mines,the path planning problem in transportation,such as the shortest time problem,the shortest path problem,has become the key problem restricting the use cost of trackless rubber wheeled vehicles.By improving the weight coefficients of the A*algorithm through the Euclidean distance function,reducing the search neigh-borhood by evaluating and optimizing the search direction,and shortening the search path curves based on the Bessel function.The ex-periment showed that the search time of the improved A*algorithm was reduced by 81.2％compared with the traditional Dijkstra algo-rithm,and more than 62％compared with the traditional A*algorithm;the number of search nodes was reduced by about 78.9％com-pared with the traditional Dijkstra algorithm and more than 66.6％compared with the traditional A*algorithm;the path length was re-duced by more than 4％compared with the traditional Dijkstra algorithm.The improved A*algorithm reduced the search time,short-ened the search path,improved the path planning efficiency of underground rubber wheeled vehicle,and reduced the use cost of rubber wheeled vehicle.
NETL
NSTL
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