The invention discloses an underground carry-scraper path
planning method and
system, and the method comprises the steps: obtaining environment
data information of a target underground mine roadway, constructing an environment map, and carrying out the preprocessing of the environment map, and obtaining a binary grid map; constructing a generalized Voronoi diagram, extracting a roadway center line and carrying out region division; performing path guidance and segmentation by adopting an
algorithm to obtain a reference state set of the target underground mine roadway; and based on a
hybrid algorithm, a regional dynamic node expansion strategy and a multi-target
heuristic cost function, realizing path planning of the underground carry-scraper, and realizing path planning of the underground carry-scraper. According to the invention, through
data acquisition and
data processing of a target underground mine roadway, a roadway center line and divided areas are extracted, then path guidance is carried out through an
algorithm, and based on a divided area dynamic node expansion strategy and a multi-target
heuristic cost
function optimization hybrid algorithm, path guidance is carried out. By combining a
hybrid algorithm, a Dubins curve, a
collision detection scheme, path smoothness punishment and
path distance punishment, the path planning of the underground carry-scraper is realized, the reliability is higher, the accuracy is better, and the effect is better.