局部路径规划在无人工程机械作业中的应用

为实现无人工程机械在自主作业过程中自主行驶和自主避障的目的，设计一种适用于无人工程机械自主作业的局部路径规划方法。利用环境感知系统采集环境数据，分析处理后得到环境栅格地图，并根据无人工程机械尺寸对障碍物进行膨胀处理，应用D*算法搜索出一条代价最小的无碰撞安全行驶路径。实验结果表明：该方法能根据周围环境实时规划无人工程机械行驶路径，满足复杂地形环境的路径规划要求。

Application of Local Path Plan for Unmanned Construction Machinery Autonomous Task

In order to meet the requirement of autonomous driving and avoiding obstacles for unmanned construction machinery in autonomous task, design a kind of local path plan method for unmanned construction machinery in autonomous task. First, using environmental perception system to collect environmental data and using grid map to show the surrounding environment. Then according to the size of the construction machinery, the obstacles are expanded. At last, using D* algorithm to get a safe travel path with minimum cost. Experimental results demonstrate that this method can re-plan the path of unmanned construction machinery in real-time according to the surrounding environment, and meets the requirement of local path plan for unmanned construction machinery in complex terrain environment.