A Fuzzy Logic-Based Adaptive Dynamic Window Approach for Path Planning of Automated Driving Mining Truck

摘要

Automated Driving for open-pit mines has become a trend in recent years, and one of the most challenging scenario is parking path planning based on the demand of the excavator. In path planning field, dynamic window approach (DWA) is widely used. However, such method negalects expected direction at the destination, which makes it difficult to be implemented for mining trucks parking. To deal with this problem, we proposed a fuzzy logic-based adaptive DWA by considering truck kinematics. Firstly, an improved DWA considering obstacle avoidance is designing by taking Ackermann steering constraint into account. In the approach, we design a novel objective function to regulate the truck direction. Secondly, the detail of fuzzy logic is presented to guarantee the robustness against different situations. Simulations performed with the fuzzy logic-based adaptive DWA show that the mining truck can drive to the destination in high direction accuracy in different scenarios.