[1]RUAN Shunling,ZHAO Wei,XIN Zhi,et al.Research on the obstacle avoidance path planning of unmanned truck in open-pit mine with improved time-elastic-bands[J].CAAI Transactions on Intelligent Systems,2024,19(6):1449-1457.[doi:10.11992/tis.202306033]
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Research on the obstacle avoidance path planning of unmanned truck in open-pit mine with improved time-elastic-bands

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 19 Number of periods: 2024 6 Page number: 1449-1457 Column: 学术论文—机器人 Public date: 2024-12-05
Title:
Research on the obstacle avoidance path planning of unmanned truck in open-pit mine with improved time-elastic-bands
Author(s):
RUAN Shunling1;  ZHAO Wei1;  XIN Zhi2;  GU Qinghua1;  LIU Zihao1
1. School of Resource Engineering, Xi’an University of Architecture and Technology, Xi’an 710055, China;
2. Hami Hexiang Industry and Trade Co., Ltd, Hami 839200, China
Keywords:
open-pit mine; unmanned trucks; path planning; improved TEB algorithm; obstacle avoidance planning; pose trajectory points; static cost map; autonomous navigation
CLC:
TP29
DOI:
10.11992/tis.202306033
Abstract:
To address the sudden and diverse obstacles on unstructured roads in open-pit mines, which greatly affect the path planning and safe operation of unmanned trucks, a path-planning algorithm based on improved timed elastic bands (TEB) is proposed. This algorithm streamlines the number of truck pose calculations and minimizes path-turning amplitude by adjusting and fusing pose trajectory points. It also introduces a buffer layer between the obstacle expansion layer and the safe driving area to achieve optimal safe path planning in the static cost map, preventing local optimization in complex environments. Experimental results show that, when dealing with static obstacles, the proposed algorithm significantly improves the ability to safely navigate around obstacles compared with the traditional TEB algorithm. Furthermore, it increases the average navigation speed, effectively ensuring the safe and efficient transportation of unmanned trucks in open-pit mines.
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