Research on path planning algorithms for Crawler transport robots in complex tunnels
TongZhu Yu, JiuHong Wang, DaiXiang Zhang, YaoMeng Xiao, CanGuang Zheng, Dan Kang, Yang Jiang, MingChao Du, Kun Zhang, Xin Tong · 2026
Read Research on path planning algorithms for Crawler transport robots in complex tunnels by TongZhu Yu, JiuHong Wang, DaiXiang Zhang, YaoMeng Xiao, CanGuang Zheng, Dan Kang, Yang Jiang, MingChao Du, Kun Zhang, Xin Tong (2026) in the Tower of Babel, a free online library of public-domain works preserved in clean, searchable text. No sign-up. The full text is served as a plain-text file at a predictable URL, where text is present: https://antarctic-labs.com/tower-of-babel/pmc-13138631.txt.
Description
TongZhu Yu and colleagues improve path planning for crawler transport robots in complex mine tunnels. Their 2026 paper targets underground coal mine material hauling. Smart mine construction needs safe, efficient robot transport. Roadways there are unstructured and hazardous for simple planners. The team upgrades the classic A-star search algorithm.
A bidirectional adaptive search speeds global route finding. Terrain risk weights enter the cost function directly. Planned paths thus steer around high-risk ground. A dynamic window method handles local obstacle avoidance in real time. Simulations tested the combined planner in tunnel settings. Driving efficiency and safety were the joint goals. The design suits robots working where humans face danger.
Catalog record
| CREATOR | TongZhu Yu, JiuHong Wang, DaiXiang Zhang, YaoMeng Xiao, CanGuang Zheng, Dan Kang, Yang Jiang, MingChao Du, Kun Zhang, Xin Tong |
|---|---|
| YEAR | 2026 |
| COLLECTION | PAPERS |
| FORMAT | TXT |
| FILE SIZE | 35 KB |
| VERSION | 1.0 |
| LICENSE | CC BY 4.0 |
| RIGHTS | CC BY |
| SOURCE | Europe PMC |