关键词: 矿山无人驾驶；矿用自卸车；自适应混合 A *算法；路径规划

Abstract: With the development of 5G networks and Internet of things technology, research on the application of autonomous driving technology in mining has made significant progress. However, due to the heavy load of mining dump trucks, narrow roads in the mining loading areas, sharp bends, and numerous uphill and downhill sections, the path planning for autonomous driving of mining dump trucks in mining areas faces challenges. Paper addresses the path planning problem for dump trucks in loading areas and proposes an adaptive hybrid A* path planning method suitable for autonomous mining dump trucks. This method can plan a safe path for dump trucks to avoid obstacles and travel from the starting point to the destination on narrow mining roads. It also ensures that the dump trucks maintain straight travel on narrow uphill and downhill roads, avoiding instability caused by frequent turns, thereby improving the safety of the autonomous driving system.Finally, the feasibility and superiority of the adaptive hybrid A* search algorithm were validated through MATLAB simulation experiments.

Key words: mining autonomous driving; mining dump truck; adaptive hybrid A* algorithm; path planning