关键词: 矿车运输轨迹规划　改进鲸鱼算法　3-5-3次多项式　时间优化

Abstract: During the planning process of the mine vehicle transportation route,the consumption of running time directly affects the transportation efficiency.To address the time optimization problem in the mine vehicle transportation route planning, an improved whale optimization algorithm for mine vehicle transportation route planning is proposed.The population of the whale optimization algorithm is initialized using the chaotic mapping method,and adaptive weights and an improved conver gence factor are designed to enhance the algorithm′s solution accuracy,convergence speed,and global search ability.Firstly,the kinematic model of the mine vehicle is constructed based on the D-H parameter method;then,the 3-5-3 polynomial interpola tion function is used to plan the path points that the mine vehicle passes through in the trajectory space,and the improved whale optimization algorithm is used to optimize the running time;finally,the algorithm simulation analysis is carried out using MATLAB software.Compared with classic algorithms such as Particle Swarm Optimization (PSO),Genetic Algorithm (GA), and Whale Optimization Algorithm (WOA),the proposed algorithm has significant advantages in terms of solution accuracy and convergence speed.

Key words: transportation route planning for mine vehicle,improved whale optimization algorithm,3-5-3 polynomial,time optimization