| 禹鑫燚,刘逸哲,欧林林.一种基于曲率和B样条的矿区装载车辆连续路径规划方法[J].高技术通讯(中文),2024,34(1):72~82 |
| 一种基于曲率和B样条的矿区装载车辆连续路径规划方法 |
| A continuous path planning method based on B-spline curves and curvature for loading truck in mining areas |
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| DOI：10. 3772/ j. issn. 1002-0470. 2024. 01. 008 |
| 中文关键词: 装载车辆； 路径规划； A*算法； B样条； 回转点 |
| 英文关键词: loading truck, path planning, A* algorithm, B-spline, turning point |
| 基金项目: |
| 作者 | 单位 | | 禹鑫燚 | （浙江工业大学信息工程学院杭州 310023） | | 刘逸哲 | | | 欧林林 | |
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| 中文摘要: |
| 矿区装载车辆的任务是从进入点到装载点进行装载，然后离开矿区。在进入装载点前，车辆要在回转点改变行进方向，以便倒车进入装载点。针对装载车辆的任务特点，本文提出了一种基于曲率和B样条的路径规划方法。首先，基于车辆运动模型设计了A*算法的成本函数，获得了与车辆转弯半径相关的离散路径。为了进一步获得装载车辆的连续路径，又提出了改进的B样条插值法，使得连续路径两端切线符合车辆起始点和终点的位姿。随后，基于模拟退火算法，获得了车辆的回转点，使得车辆可以在进入装载点前改变前进方向。仿真结果表明，所提出的连续路径规划方法能够保证生成曲率连续的装载车辆路径，并保证路径两端符合车辆在起始点和终点的位姿，为矿区装载车辆的自动驾驶技术提供了基础。 |
| 英文摘要: |
| 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 characteristics 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. |
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