IDEAS home Printed from https://ideas.repec.org/a/gam/jmathe/v13y2025i3p522-d1583815.html
   My bibliography  Save this article

Safe Path Planning Method Based on Collision Prediction for Robotic Roadheader in Narrow Tunnels

Author

Listed:
  • Chao Zhang

    (School of Mechanical Engineering, Xi’an University of Science and Technology, Xi’an 710054, China)

  • Xuhui Zhang

    (School of Mechanical Engineering, Xi’an University of Science and Technology, Xi’an 710054, China
    Shaanxi Key Laboratory of Intelligent Detection and Control for Mining Electromechanical Equipment, Xi’an 710054, China)

  • Wenjuan Yang

    (School of Mechanical Engineering, Xi’an University of Science and Technology, Xi’an 710054, China
    Shaanxi Key Laboratory of Intelligent Detection and Control for Mining Electromechanical Equipment, Xi’an 710054, China)

  • Guangming Zhang

    (Faculty of Engineering and Technology, Liverpool John Moores University, Byrom Street, Liverpool L3 3AF, UK)

  • Jicheng Wan

    (School of Mechanical Engineering, Xi’an University of Science and Technology, Xi’an 710054, China)

  • Mengyu Lei

    (School of Mechanical Engineering, Xi’an University of Science and Technology, Xi’an 710054, China
    Shaanxi Key Laboratory of Intelligent Detection and Control for Mining Electromechanical Equipment, Xi’an 710054, China)

  • Zheng Dong

    (School of Mechanical Engineering, Xi’an University of Science and Technology, Xi’an 710054, China)

Abstract

Safe path planning is essential for the autonomous operation of robotic roadheader in narrow underground tunnels, where limited perception and the robot’s geometric constraints present significant challenges. Traditional path planning methods often fail to address these issues. This paper proposes a collision prediction-integrated path planning method tailored for robotic roadheader in confined environments. The method comprises two components: collision prediction and path planning. A collision prediction model based on artificial potential fields is developed, considering the non-convex shape of the roadheader and enhancing scalability. By utilizing tunnel design information, a composite potential field model is created for both obstacles and the roadheader, enabling real-time collision forecasting. The A* algorithm is modified to incorporate the robot’s motion constraints, using a segmented weighted heuristic function based on collision predictions. Path smoothness is achieved through Bézier curve smoothing. Experimental results in both obstacle-free and obstacle-laden scenarios show that the proposed method outperforms traditional approaches in terms of computational efficiency, path length, and smoothness, ensuring safe, efficient navigation in narrow tunnels.

Suggested Citation

  • Chao Zhang & Xuhui Zhang & Wenjuan Yang & Guangming Zhang & Jicheng Wan & Mengyu Lei & Zheng Dong, 2025. "Safe Path Planning Method Based on Collision Prediction for Robotic Roadheader in Narrow Tunnels," Mathematics, MDPI, vol. 13(3), pages 1-26, February.
    • Handle: RePEc:gam:jmathe:v:13:y:2025:i:3:p:522-:d:1583815
    as

    Download full text from publisher

    File URL: https://www.mdpi.com/2227-7390/13/3/522/pdf
    Download Restriction: no
    File URL: https://www.mdpi.com/2227-7390/13/3/522/
    Download Restriction: no
    ---><---

    References listed on IDEAS

    as
    1. Xiaodong Ji & Minjun Zhang & Yuanyuan Qu & Hai Jiang & Miao Wu, 2021. "Travel Dynamics Analysis and Intelligent Path Rectification Planning of a Roadheader on a Roadway," Energies, MDPI, vol. 14(21), pages 1-21, November.
    Full references (including those not matched with items on IDEAS)

    Most related items

    These are the items that most often cite the same works as this one and are cited by the same works as this one.
    1. Jianjun Wu & Ziyue Xu & Xinqiu Fang & Guangliang Shi & Haiyan Wang, 2022. "Research on Path Planning and Control Method for Secondary Autonomous Cutting of Cantilever Roadheader in a Large-Section Coal Roadway," Sustainability, MDPI, vol. 15(1), pages 1-22, December.
    2. Olga Zhironkina & Sergey Zhironkin, 2023. "Technological and Intellectual Transition to Mining 4.0: A Review," Energies, MDPI, vol. 16(3), pages 1-37, February.
    3. Jicheng Wan & Xuhui Zhang & Chao Zhang & Wenjuan Yang & Mengyu Lei & Yuyang Du & Zheng Dong, 2023. "Vision and Inertial Navigation Combined-Based Pose Measurement Method of Cantilever Roadheader," Sustainability, MDPI, vol. 15(5), pages 1-16, February.

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:gam:jmathe:v:13:y:2025:i:3:p:522-:d:1583815. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    If CitEc recognized a bibliographic reference but did not link an item in RePEc to it, you can help with this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: MDPI Indexing Manager (email available below). General contact details of provider: https://www.mdpi.com .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.