地下巷道动态受限空间移动装备路径规划研究
Research on Path Planning of Mobile Equipment in Dynamic Confined Space of Underground Roadway
（a）改进后TEB算法的总体代价；（b）改进前TEB算法的总体代价；（c）改进TEB速度曲线；（d）传统TEB速度曲线
地下巷道动态受限空间移动装备路径规划研究 |
| 刘卓,贾明涛,王李管 |
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Research on Path Planning of Mobile Equipment in Dynamic Confined Space of Underground Roadway |
| Zhuo LIU,Mingtao JIA,Liguan WANG |
| 图10 改进前后TEB算法的装备性能对比 （a）改进后TEB算法的总体代价；（b）改进前TEB算法的总体代价；（c）改进TEB速度曲线；（d）传统TEB速度曲线 |
| Fig.10 Comparison of equipment performance of TEB algorithm before and after improvement |
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