Abstract: To ensure that the single-drum roller maintains stable steering during lane-changing compaction and guarantees compaction quality,a lane-changing path planning method was introduced.In this method,the smoothness of the single-drum roller′s lane-changing trajectory,stability of steering,and energy consumption during lane-changing operations were taken as optimization objectives.5th-order Bezier curve was used as the lane changing path curve. An articulated kinematic model was developed to establish a correspondence between the states of the lane-changing path points. The Light Spectrum Optimizer (LSO) algorithm was employed to optimize the coordinates of unknown key control points in the 5th-order Bezier curve,resulting in an approximate optimal lane-changing path. Taking a certain type of single-drum roller as an example,it is shown by simulation and test results that the curves planned by this method have a heading angle and curvature of 0 at both the starting and ending points,with continuous curvature throughout the entire trajectory. This complies with the operational requirements of the single-drum roller. In comparison to document [10] methods,the optimal changing path curves planned by this method exhibit a reduction of 3.8 % in maximum lateral error and 16.7 % in average lateral error. Furthermore,the maximum curvature and average curvature decrease by 18.0 % and 9.3 % respectively. The average fuel consumption of the vehicle also diminishes by 3.8 %. The research outcomes provide practical application reference value for unmanned operation of single-drum roller.

Key words: single-drum roller, path planning, Light Spectrum Optimizer (LSO) algorithm, Bezier curve