自主铲运机的定位导航和控制策略基本思路

The Basic Method Study on the Location-Navigation and Control Strategy for the Independent LHD Unit

根据自主铲运机(LHD)自身结构和其运动轨迹特点,对铲运机在巷道内所处的位置和姿态进行定义。对感知地下巷道环境的传感器进行选择,确定了激光扫描器为主要环境感知传感器。提出了一种巷道电子地图和铲运机期望路径的构建方法,该方法即符合实际,又快速方便。通过扫描器实时构建局部环境地图,与巷道的电子地图相匹配,可确定车辆的位置和姿态。提出了铲运机定位导航和智能控制策略基本方法和思路,该控制策略方法可提高自主铲运机在井下的运行速度,提高自动铲运机的作业效率。

According to the characteristic of the LHD＇s structure and trajectory,make sure the location and attitude of the LHD in the mining and choose the laser scanner as the sensor to identify the major environmental.Sum up the method about creating the road E-map and the LHD＇s expectation path,which is realistic and convenient.Create the real-time map through scanning local environment.Location and attitude of the LHD can be sure through matching the real-time scanning map and the road E-map.Sum up the basic methods and ideas of the location-navigation and intelligent control strategy for the independent LHD unit.The operating speed and work efficiency will be improved if the strategy can be used on the independent LHD unit.