面向铲装作业场景的自动驾驶矿车路径规划方法研究

针对铲装作业场景复杂多变、矿车路径规划实时性及安全性要求高的特点，提出一种基于引导式变步长混合A*算法的路径规划方法。通过建立维诺图获取矿区路网并提取关键点作为方向引导，提升探索效率的同时避免车辆在U形障碍物处陷入局部最优；引入自适应变步长算法并改进启发函数，进一步提高规划效率及路径安全性；通过矿区实车场景试验验证算法有效性。试验结果表明，本路径规划方法满足矿车复杂场景要求，规划时间相比原引导式算法降低68%，路径到障碍物平均距离增加了11%，路径曲率变动次数减少45%，显著提高了计算效率与路径质量。     

Capacity and failure mechanism of monopile-wheel hybrid foundation in clay-overlaying-sand deposits under combined V–H-M loadings

Innovative monopile-wheel hybrid foundations are proposed to enhance the lateral load and moment capacities of monopile for offshore wind systems. This paper presents a comprehensive numerical study on the bearing capacities of this hybrid foundation in clay-overlaying-sand soil conditions under combined V–H-M (vertical-horizontal-moment) loadings. Numerical models are generated and validated by comparing with laboratory experiment results and available centrifuge testing data on similar foundation systems. Parametric analysis is then carried out to quantify the effects of potential influencing factors on the failure mechanisms and bearing capacities of hybrid foundations, including the hybrid foundation geometry, soil properties, upper clay thickness, height of the lateral loading and pre-vertical load. It is found that in clay-overlaying-sand deposits, the hybrid system manifests totally different failure mechanism compared with that in uniform soil deposits. The thickness of the upper clay layer (T_c/L), within the practical range of T_c/L = 0.1–0.7, has a significant influence on the failure patterns and the bearing capacities of the hybrid system, and the proportion of bearing capacity provided by the pile and wheel is determined by the ratios of D_w/L and L/D_p. In addition, the failure envelopes in the V–H-M space manifests that the failure envelopes are shrank with the increase of the normalized vertical resistance, V/V_ult, which is highly related to the clay layer thickness (T_c/L).