Trajectory planning for a heavy-duty mining truck near the loading/dumping sites of an open-pit mine is difficult. As opposed to trajectory planning for a small-sized passenger car in a parking lot, trajectory planning for a heavy-duty mining truck involves complex factors in vehicle kinematics and environment. These factors make the concerned trajectory planning scheme a mixed-integer nonlinear program (MINLP) incorporated with conditional constraints (denoted as C-MINLP). MINLP solvers can neither deal with conditional constraints nor find global optima in real time. Instead of solving the C-MINLP directly, we build a from-coarse-to-fine framework so that the coupled difficulties (the mixed integral variables, conditional constraints, and the demand for global optimality) are divided and conquered. At the coarse search stage, a global-optimality-enhanced hybrid A* search algorithm is proposed to find a near-optimal coarse trajectory with the mixed integral variables, conditional kinematic constraints, and global optimality considered. The coarse trajectory is further polished at the refinement stage, wherein the nominal C-MINLP is simplified as a small-scale NLP. The solution to the NLP is an optimized trajectory, which does not violate the complex constraints in the nominal C-MINLP. This indicates that conversion from the C-MINLP to an NLP is efficient with the help of a high-quality coarse trajectory.


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    Title :

    Mixed-Integer and Conditional Trajectory Planning for an Autonomous Mining Truck in Loading/Dumping Scenarios: A Global Optimization Approach


    Contributors:
    Li, Bai (author) / Ouyang, Yakun (author) / Li, Xiaohui (author) / Cao, Dongpu (author) / Zhang, Tantan (author) / Wang, Yaonan (author)

    Published in:

    Publication date :

    2023-02-01


    Size :

    2499340 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



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