Algorithm for optimal path planning of impact roller in high-embankment airport

Abstract

With the continuous increase of high-embankment construction projects in China's airports, impact roller has become more and more widely used. And the construction technology with automatic driving, path planning and adaptive operation has become the development direction in high-embankment airport. Combined with advanced information technology such as Beidou positioning navigation system, the Internet and cloud computing, this paper proposes an algorithm for optimal path planning of impact roller to meet the need. The algorithm includes three aspects: Working surface rasterization, full coverage path generation and optimal path planning. Based on the structure of the impact roller, the algorithm adopts the method of non-overlapping wheel tracks to plan the path which covers the entire working surface, and could get the optimal path by analyzing the compaction quality during the construction process. Through field test, it is proved that the proposed algorithm has certain feasibility and effectiveness in guiding impact roller to work. The impact roller can not only ensure the compaction quality, but also improve work efficiency by following the path generated by the algorithm.