Study on stochastic constraint environment modeling method for optimal deviation rectification path of boom-type roadheader

Abstract

Aiming at path planning problem of the unstructured environment attributions for roadheader roadway this paper analyzes the attributes and behavior constraints of unstructured environments,and a dynamic random grid network model with constraint information was defined(C-G Net).The minimum cost modeling method was proposed by optimization of best path target point set through improved VSAPSO algorithm.Results shows that the model and algorithm proposed in this paper could effectively solve the problem of network path planning under dynamic random with minimum cost roadheader excavation.Its convergence rate and advance rate meet the requirements of roadheader rectification path planning,and the effectiveness and practicability of this method were verified.

Keywords

• stochastic network
• environmental modeling
• path planning
• particle swarm optimization (pso)