Study on stochastic constraint environment modeling method for optimal deviation rectification path of boom⁃type roadheader
-
Graphical Abstract
-
Abstract
Aimingatpathplanningproblemoftheunstructuredenvironmentattributionsforroadheader roadwaythispaperanalyzestheattributesandbehaviorconstraintsofunstructuredenvironments,anda dynamicrandomgridnetworkmodelwithconstraintinformationwasdefined(C⁃GNet)*Theminimum costmodeling method was proposed by optimization of best path target point set through improved VSAPSOalgorithm*Resultsshowsthatthemodelandalgorithmproposedinthispapercouldeffectively solvetheproblemofnetworkpathplanningunderdynamicrandomwithminimumcostroadheaderexca⁃ vation*Itsconvergence rate and advance rate meet the requirements of roadheader rectification path planning,andtheeffectivenessandpracticabilityofthismethodwereverified*
-
-