Auxiliary unmanned driving route planning algorithm based on mining road

In order to solve the problem of vehicles transportation in mining areas, this paper presents an auxiliary unmanned driving method for mining truck. Considering the uncertainty of path, obstacle and road condition, an improved RRT algorithm based on mining road is put forward. After take full account of the complexity of road condition in mining area, an auxiliary unmanned driving system combined with driver is built, which take safety as the first factor. Finally, the algorithm is simulated and tested simulation results show that the improved RRT algorithm based on mining road can partly replace driver's work and effectively improve driving safety.