Path planning of shearer up-drum based on virtual coal-rock interface

For the problem of shearer up-drum cutting rock in roof in the region where coal-rock interface is bended, a path planning method of shearer up-drum based on virtual coal-rock interface was proposed. The method defines virtual coal-rock interface which has repulsion to up-drum and virtual gravitational field, simulates moving process of shearer up-drum along the virtual coal-rock interface, calculates discrete points of cutting path through simulating the motion of shearer up-drum, and obtains a smooth cutting path of up-drum based on regression method of Gaussian kernel model and l2 constraint least square by training the discrete points. The simulation results show that cutting path of shearer up-drum planned by the method can avoid up-drum to cu rock in the region where coal-rock interface is bend effectively.