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A Path Planning Method Integrating Multi-Cost Constraints and Adaptive Smoothing for Deep-Sea Polymetallic Nodule Mining Vehicle
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Weijie PENG1, Chen WANG2, Longde SU1, Xinshu LU1
Mining and Metallurgical Engineering | 2026, 46(3) : 40 - 45
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Mining and Metallurgical Engineering | 2026, 46(3): 40-45
• SPECIAL TOPIC ON BREAKTHROUGHS IN KEY TECHNOLOGIES AND COORDINATED DEVELOPMENT OF INDUSTRIAL CHAINS FOR DEEP-SEA MINERAL RESOURCE EXPLOITATION •
A Path Planning Method Integrating Multi-Cost Constraints and Adaptive Smoothing for Deep-Sea Polymetallic Nodule Mining Vehicle
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Weijie PENG1, Chen WANG2, Longde SU1, Xinshu LU1
Affiliations
  • 1.School of Mechanical Engineering, Guangxi University, Nanning 530004, Guangxi, China
  • 2.State Key Laboratory of Deepsea Manned Vehicle, China Ship Scientific Research Center, Wuxi 214082, Jiangsu, China
doi: 10.3969/j.issn.0253-6099.2026.03.004
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Based on the slope-climbing dynamic analysis of mining vehicles, models for traction, total resistance and sinkage were established with the characteristics of soft deep-sea sediment taken into consideration, and a passable slope threshold was also determined. An improved A* path planning algorithm is proposed, which integrates multi-cost constraints to optimize the search efficiency and path quality, and employs a redundant node removal method and Bézier curve fitting for the post-processing smoothing of the path. Simulation results show that, compared with the traditional A* algorithm, the proposed improved algorithm makes the total length of the path planned shortened by about 3% on average, reduces the travel time and energy consumption costs by over 60% on average, and decreases the total steering angle of the path by over 70% on average. It generates a global path with a lower comprehensive cost and smoother steering, effectively improving the safety and efficiency of deep-sea mining vehicle operations.

deep-sea mining vehicle  /  path planning  /  A* algorithm  /  dynamic analysis  /  path smoothing  /  polymetallic nodule
彭帷杰, 王臣, 苏泷德, 陆薪树. 融合多代价约束与自适应平滑的深海结核采矿车路径规划方法. 矿冶工程杂志, 2026 , 46 (3) : 40 -45 . DOI: 10.3969/j.issn.0253-6099.2026.03.004
Weijie PENG, Chen WANG, Longde SU, Xinshu LU. A Path Planning Method Integrating Multi-Cost Constraints and Adaptive Smoothing for Deep-Sea Polymetallic Nodule Mining Vehicle[J]. Mining and Metallurgical Engineering, 2026 , 46 (3) : 40 -45 . DOI: 10.3969/j.issn.0253-6099.2026.03.004
Appendix
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Year 2026 volume 46 Issue 3
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doi: 10.3969/j.issn.0253-6099.2026.03.004
  • Receive Date：2026-04-02
  • Online Date：2026-10-08
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  • Received：2026-04-02
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Affiliations
    1.School of Mechanical Engineering, Guangxi University, Nanning 530004, Guangxi, China
    2.State Key Laboratory of Deepsea Manned Vehicle, China Ship Scientific Research Center, Wuxi 214082, Jiangsu, China
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表12种不同金属材料的力学参数
科
Family		 属数
Number of
genus		 种数
Number of
species		 占总种数比例
Percentage of
total species (%)		 属
Genus		 种数
Number of
species		 占总种数比例
Percentage of total
species (%)
鹅膏菌科Amanitaceae 2 11 5.26 鹅膏菌属 Amanita 10 4.78
小菇科 Mycenaceae 2 12 5.74 丝盖伞属 Inocybe 5 2.39
多孔菌科 Polyporaceae 8 14 6.70 蜡蘑属 Laccaria 5 2.39
红菇科 Russulaceae 3 23 11.00 小皮伞属 Marasmius 6 2.87
小菇属 Mycena 11 5.26
光柄菇属 Pluteus 5 2.39
红菇属 Russula 17 8.13
栓菌属 Trametes 5 2.39
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