A multi-target dynamic path planning method and system for a tunnel environment

Abstract

The application belongs to the field of tunnel construction automation and robot navigation technology, and provides a multi-target dynamic path planning method and system for tunnel environment, dynamically adjusts node expansion step length according to tunnel curvature of the current node position, adds a safety penalty term related to the tunnel wall distance in the cost function, preferentially reuses the pre-stored planning path segment when planning a new path, and takes the maximum value of the Euclidean distance and the topological distance as the heuristic estimation of the hybrid heuristic function; compared with the classical search algorithm, the number of node expansions and the calculation time are reduced, the wall distance safety cost is taken as a continuous penalty term and integrated into the cost function, the quantitative trade-off between safety and path length is realized, the collision risk is effectively reduced, the maximum value of the distance and the topological distance is taken as the heuristic estimation, the adoptability is maintained and the information is better than the pure Euclidean distance, and the invalid node expansion is reduced.

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