Dong Wang1,*, Shutong Zheng1, Yanxi Ren2, Danjie Du3
CMC-Computers, Materials & Continua, Vol.71, No.2, pp. 3571-3587, 2022, DOI:10.32604/cmc.2022.022183
Abstract 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… More >
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