改进时间弹性带的露天矿无人卡车避障路径规划研究

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Title:

Research on the obstacle avoidance path planning of unmanned truck in open-pit mine with improved time-elastic-bands

作者:

阮顺领¹, 赵微¹, 辛智², 顾清华¹, 刘梓浩¹

1. 西安建筑科技大学 资源工程学院, 陕西 西安 710055;
2. 哈密市和翔工贸有限责任公司, 新疆 哈密 839200

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

关键词:

露天矿; 无人卡车; 路径规划; 改进TEB算法; 避障规划; 位姿轨迹点; 静态代价地图; 自主导航

Keywords:

open-pit mine; unmanned trucks; path planning; improved TEB algorithm; obstacle avoidance planning; pose trajectory points; static cost map; autonomous navigation

分类号:

TP29

DOI:

10.11992/tis.202306033

摘要:

针对露天矿非结构化道路上因障碍具有突发性和多样性等特点，极大影响无人卡车路径规划和安全行驶等问题，提出一种基于改进时间弹性带(timed elastic bands, TEB)的矿区无人卡车避障路径规划算法。该算法通过调节融合位姿轨迹点，减少卡车位姿计算量和路径转弯幅度，并针对复杂环境下易陷入局部最优的问题，在障碍物膨胀层与安全行驶区域间引入缓冲层，完成静态代价地图中最优安全路径规划。实验结果表明，在静态障碍物复杂场景下，该算法较传统TEB算法在安全绕障能力上有较大提升，平均导航速度更快，可有效保障露天矿无人卡车的安全行驶和高效运输。

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.