During the operation of open-pit mining, the loading position of a haulage truck often changes, bringing a new challenge concerning how to plan an optimal truck transportation path considering the terrain factors. This paper proposes a path planning method based on a high-precision digital map. It contains two parts: (1) constructing a high-precision digital map of the cutting zone and (2) planning the optimal path based on the modified Hybrid A* algorithm. Firstly, we process the high-precision map based on different terrain feature factors to generate the obstacle cost map and surface roughness cost map of the cutting zone. Then, we fuse the two cost maps to generate the final cost map for path planning. Finally, we incorporate the contact cost between tire and ground to improve the node extension and path smoothing part of the Hybrid A* algorithm and further enhance the algorithm’s capability of avoiding the roughness. We use real elevation data with different terrain resolutions to perform random tests and the results show that, compared with the path without considering the terrain factors, the total transportation cost of the optimal path is reduced by 10%–20%. Moreover, the methods demonstrate robustness.
Validation of Map Matching Algorithms using High Precision Positioning with GPS
