Cutting Path Planning of Coal Shearer Base on Particle Swarm Triple Spline Optimization

According to the cutting path planning problem of the coal shearer, the paper provided the particle swarm triple spline optimization for the cutting path pl anning method of the coal shearer.The triple spline curves could have excellent sectional smoothness and could be a good curve fitted method .As for the related coefic ient solution, the calculation would be complicated. But the rapid convergence and the powerful overall seeking search capacity of the particle swarm algorithm could ra pidly and accurately set up the spline curve parameters and could realize the optimum path planning of the coal shearer.The trial results showed that the path planned by the cutting path planning method of the coal shearer optimized with the particle swarm triple splines could be smooth and reliable for the automatic control of the coal shearer.