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Path Planning Based on the Improved RRT* Algorithm for the Mining Truck

Dong Wang1,*, Shutong Zheng1, Yanxi Ren2, Danjie Du3
1 School of Instrument Science and Engineering, Southeast University, Nanjing, 210096, China
2 32184 PLA Troops, Beijing, 100071, China
3 North Carolina State University, Raleigh, USA
* Corresponding Author: Dong Wang. Email:

Computers, Materials & Continua 2022, 71(2), 3571-3587.

Received 30 July 2021; Accepted 09 October 2021; Issue published 07 December 2021


Planning a reasonable driving path for trucks in mining areas is a key point to improve mining efficiency. In this paper, a path planning method based on Rapidly-exploring Random Tree Star (RRT*) is proposed, and several optimizations are carried out in the algorithm. Firstly, the selection process of growth target points is optimized. Secondly, the process of selecting the parent node is optimized and a Dubins curve is used to constraint it. Then, the expansion process from tree node to random point is optimized by the gravitational repulsion field method and dynamic step method. In the obstacle detection process, Dubins curve constraint is used, and the bidirectional RRT* algorithm is adopted to speed up the iteration of the algorithm. After that, the obtained paths are smoothed by using the greedy algorithm and cubic B-spline interpolation. In addition, to verify the superiority and correctness of the algorithm, an unmanned mining vehicle kinematic model in the form of front-wheel steering is developed based on the Ackermann steering principle and simulated for CoppeliaSim. In the simulation, the Stanley algorithm is used for path tracking and Reeds-Shepp curve to adjust the final parking attitude of the truck. Finally, the experimental comparison shows that the improved bidirectional RRT* algorithm performs well in the simulation experiment, and outperforms the common RRT* algorithm in various aspects.


RRT*; optimize; path smooth; coppeliaSim

Cite This Article

D. Wang, S. Zheng, Y. Ren and D. Du, "Path planning based on the improved rrt* algorithm for the mining truck," Computers, Materials & Continua, vol. 71, no.2, pp. 3571–3587, 2022.

This work is licensed under a Creative Commons Attribution 4.0 International License , which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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