地下矿用车辆无人驾驶目标路径规划方法研究

STUDY ON TARGET PATH PLANNING METHOD FOR UNDERGROUND MINING UNMANNED VEHICLES

针对井下巷道复杂多变的路面条件,将地下矿用车辆无人驾驶目标路径划分为主目标路径和局部避障目标路径,在主目标路径规划时不必考虑局部避障问题,在主目标路径规划完成后,再进行局部避障目标路径规划。建立车辆轨迹跟踪偏差控制模型及动力转向控制模型,通过对模型的仿真计算,可对地下矿用车辆无人驾驶目标路径进行规划及优化。该目标路径规划方法具有简单方便和灵活可靠的优点。

In view of the complex road conditions in the underground roadway,the unmanned driving target path of underground mining vehicles is divided into the main target path and the local obstacle avoidance target path. In the main target path planning,it is not necessary to consider the local obstacle avoidance problem. After completion of the main target path planning,local obstacle avoidance target path planning is carried out; vehicle trajectory tracking deviation control model and power steering control model are established; and the unmanned driving target path of underground mining vehicles can be planned and optimized through model simulation calculation. The target path planning method has the advantages of simplicity, convenience, flexibility and reliability.