ass日本风韵熟妇pics男人扒开女人屁屁桶到爽|扒开胸露出奶头亲吻视频|邻居少妇的诱惑|人人妻在线播放|日日摸夜夜摸狠狠摸婷婷|制服 丝袜 人妻|激情熟妇中文字幕|看黄色欧美特一级|日本av人妻系列|高潮对白av,丰满岳妇乱熟妇之荡,日本丰满熟妇乱又伦,日韩欧美一区二区三区在线

An improved A* algorithm based path planning method for unmanned underground loadhauldump (LHD) was proposed and verified. According to the articulated structure of the underground LHD, the nodes were expanded by the articulated angle, which makes the expended nodes match the trajectory characteristic of the LHD. In order to avoid collision, collision threat cost was designed and added into the evaluation function, which makes the navigation path exclude against the walls. Simulation and comparison results between the improved A* algorithm and tranditional one show that the improved A* algorithm is more efficient, and the shortest path without collision can be obtained when the weighting coefficient is 0.2. Moreover, a path planning and tracking test is carried out in lab environment. It is shown that the tracking precision can keep in a small range and the LHD can run without collision when the navigation path is given by the proposed algorithm, which proves the effectiveness and feasibility of the proposed algorithm.