Trajectory planning algorithm and simulation of tunnel shotcrete robot

Currently, tunnel shotcrete operations are mainly completed through remote control of the shotcrete machine by operators, and the process is not automated or intelligent enough. To address this issue, we propose an automatic trajectory planning algorithm for tunnel shotcrete robots. The algorithm takes the cumulative thickness model of the shotcrete and information on the tunnel surface thickness as inputs, and discretizes the shotcrete process by rasterizing the tunnel surface. The algorithm's optimization objective is the shotcrete thickness, and we propose an improved gradient descent method to optimize the shotcrete velocity while optimizing the shotcrete path. To improve the algorithm's performance in multi-round shotcrete, we introduce the shotcrete time continuation strategy and the shotcrete path drift strategy. Simulation results demonstrate that the algorithm offers a shorter solution time and guarantees the smoothness of the tunnel surface.