Autonomous Path Finding and Obstacle Avoidance Method for Unmanned Construction Machinery

• Main Authors: Fang, Z. (Author), Lin, T. (Author), Liu, C. (Author), Ren, H. (Author), Wu, J. (Author), Yao, Y. (Author)
• Format: Article
• Language: English
• Published: MDPI 2023
• Subjects: autonomous routing; construction machinery; hybrid A*; improve pure pursuit; PointPillars; unmanned driving
• Online Access: View Fulltext in Publisher; View in Scopus

 The working environment of construction machinery is harsh, and some operations are highly repetitive. The realization of intelligent construction machinery helps to improve economic efficiency and promote industrial development. Construction machinery is different from ordinary passenger vehicles. Aiming at the fact that the existing environmental perception data set cannot be directly applied to construction machinery, this paper establishes the corresponding data set in combination with the specific working conditions of construction machinery and carries out training based on the PointPillars network to realize the environmental perception function applicable to the working conditions of construction machinery. Most construction machinery runs on unstructured roads, and the existing passenger vehicle path planning algorithm is not applicable to construction machinery. Based on this, this paper uses a hybrid A* algorithm to achieve path planning that meets the kinematics of construction machinery and realizes real-time obstacle detection and avoidance. At the same time, this paper combines environmental perception with a path planning algorithm to provide a method of autonomous path finding and obstacle avoidance for construction machinery. Based on the improved pure pursuit algorithm, the high-precision motion control and established trajectory tracking of construction machinery are realized, which lays a certain foundation for the follow-up research and development of related intelligent technologies of construction machinery. © 2023 by the authors.