AUTHOR=Xie Yingchun , Liu Chaoqun , Chen Xuguang , Liu Guijie , Leng Dingxin , Pan Wei , Shao Shuai TITLE=Research on path planning of autonomous manganese nodule mining vehicle based on lifting mining system JOURNAL=Frontiers in Robotics and AI VOLUME=10 YEAR=2023 URL=https://www.frontiersin.org/journals/robotics-and-ai/articles/10.3389/frobt.2023.1224115 DOI=10.3389/frobt.2023.1224115 ISSN=2296-9144 ABSTRACT=

Deep-sea manganese nodules are abundant in the ocean, with high exploitation potential and commercial value, and have become mineral resources that coastal countries compete to develop. The pipeline-lifting mining system is the most promising deep-sea mining system at present. A deep-sea mining vehicle is the core equipment of this system. Mining quality and efficiency rely on mining vehicles to a great extent. According to the topographic and geomorphic environmental characteristics of deep-sea manganese nodules at the bottom of the ocean, a new deep-sea mining system based on an autonomous manganese nodule mining vehicle is proposed in this paper. According to the operating environment and functional requirements of the seabed, a new mining method is proposed, and the global traverse path planning research of the autonomous manganese nodule mining vehicle based on this mining method is carried out. The arc round-trip acquisition path planning method is put forward, and the simulation verification shows that the method effectively solves the problems of low efficiency of mining vehicle traversing acquisition and obstacle avoidance.