A Path Planning Method Based on Improved A* and Fuzzy Control DWA of Underground Mine Vehicles

Abstract

In order to solve the problem of low safety and efficiency of underground mine vehicles, a path planning method for underground mine vehicles based on an improved A star (A*) and fuzzy control Dynamic Window Approach (DWA) is proposed. Firstly, the environmental information is analyzed, and the proportion of obstacles is introduced into the A* algorithm to optimize the heuristic function to improve its search efficiency in different environments. Secondly, for the global path, the key node selection strategy is proposed, the node selection method is optimized, and the redundant nodes are deleted. The path is optimized by using a 3 times Clamped-B spline to improve the smoothness of the path. Then, based on the principle of fuzzy control, fuzzy rules are established, and a DWA fuzzy controller is designed to improve the environmental adaptability of the DWA algorithm. Finally, on the basis of the global path, the key node is used as the local target point of the DWA, and the fusion of the improved A* and DWA algorithm is realized. Finally, experiments are conducted to verify the effectiveness and feasibility of the proposed path-planning method. The average deviation of the path is controlled at ±0.109 m, which basically meets the path planning needs of underground mine vehicles.