The traditional A* algorithm has the problem of being close to obstacles in path planning. For the narrow transportation scene in the underground mining area, it is evident that the algorithm cannot provide a safe path. This paper proposes an improved A* algorithm that introduces the cost of obstacles. The cost of obstacles in the scene is considered in the heuristic function, and a safer feasible path is obtained by smoothing. The experimental site is built for actual vehicle experiments. The results show that the improved A* algorithm with obstacle cost can meet the actual driving needs of intelligent mining vehicles in underground mining transportation scenarios.


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    Titel :

    Path planning of underground mining area transportation scene based on improved A* algorithm


    Beteiligte:
    Liu, Tianliang (Autor:in) / Huang, Zhen (Autor:in) / Wang, Changhai (Autor:in) / An, Ziqi (Autor:in) / Meng, Xingzhao (Autor:in) / Zheng, Jianwu (Autor:in)


    Erscheinungsdatum :

    2023-08-04


    Format / Umfang :

    1189429 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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