反应式导航在地下自主行驶铲运机中的应用

Reactive navigation for underground autonomous scraper

基于"沿墙壁"的反应式导航技术,设计了铲运机自主导航算法。通过对铰接转向角和油门的控制,使铲运机车体与墙壁保持一定的安全距离和安全角度自主行驶。根据条形码技术设计了一种可识别的编码信标,该信标可以有不同的编码组合,利用激光雷达的扫描和这种编码信标可以实现对若干关键位置(例如起点、采掘点、倾倒点等)的判定,为导航决策系统提供精确的位置信息以做出行为决策。"沿墙壁"的反应式导航技术结合"信标识别"的关键位置判定技术,实现了地下铲运机的自主导航行驶。

Using reactive navigation technology based on ＂wall-following＂,autonomous navigation algorithm was designed out.By controlling the articulated angle and throttle,the body of the scraper was kept certain safe distance and angle to the wall of the lane and driven autonomously.A type of barcode beacon was designed using barcode technology;it has different code composition and can be easily recognized.With the help of the scanning of the laser radar and the barcode beacon,certain key locations such as start point,mining point and dumping point can be determined,and those accurate locations were supplied to navigation system to make behavior decision.Using ＂wall-following＂ reactive navigation technology and determination of key locations technology with ＂barcode beacon recognition＂,autonomous navigation of the underground scraper was realized.