Abstract
The muck removal operation in tunnel boring machine (TBM) construction seriously restricts the safety and efficiency of tunnel engineering. To meet the requirements of muck removal at the bottom of the tunnel, a mechanism design and path planning algorithm were proposed to address the complex structure and frequent interference of the robot operating environment. Firstly, a robot cleaning plan and the robot body structure were proposed, the kinematic model of the robot was designed. Secondly, an improved RRT algorithm suitable for TBM and robot working environment was proposed to meet the requirements, which conclude obstacle avoidance, short time-consuming, and path smoothness. A collision detection strategy based on distance judgment, a random point generation strategy under goal-oriented constraints, a redundant path point deletion strategy, and a path smoothing processing strategy based on cubic B-splines were proposed to optimize the final path. Finally, the simulation platform has been built for traditional RRT and improved RRT algorithm were used for simulation. The results showed that the improved algorithm reduces the path cost by 27.13%, which verifies the effectiveness of the method.
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© 2023 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
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Jiang, L., Sun, Y., Wang, Y., Yuan, X., Qian, H. (2023). Path Planning for Muck Removal Robot of Tunnel Boring Machine. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14272. Springer, Singapore. https://doi.org/10.1007/978-981-99-6480-2_7
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DOI: https://doi.org/10.1007/978-981-99-6480-2_7
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