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

Research on Path Planning of Mobile Equipment in Dynamic Confined Space of Underground Roadway
Zhuo LIU,Mingtao JIA,Liguan WANG
表2 对向来车场景下装备的运行性能
Table 2 Operational performance of equipment under oncoming vehide scenarios
密度参数传统TEB算法改进TEB算法
时间/s长度/m转弯次数/次最大角速度/(r·s-1时间/s长度/m转弯次数/次最大角速度/(r·s-1
214.414.17160.61413.713.99110.585
316.074.78130.54313.724.07110.593
422.135.14220.70222.095.08210.632