基于优化控制的矿山狭窄通道车辆轨迹规划方法

A Vehicle Trajectory Planning Method for Narrow Corridor in Mines Based on Optimal Control

针对矿山狭窄通道场景自由空间严格受限、车辆难以顺利通行的问题,文章提出一种基于优化控制的轨迹规划方法。该方法立足狭窄通道环境模型,从车辆单轨运动学模型出发,考虑车辆通行时间、车辆碰撞边界、车辆控制可执行范围等要素并基于狭窄通道近似空间离散策略,构建了一种轨迹规划优化控制模型。通过求解该模型,可得优化控制序列,再经车辆系统运动学积分,形成初始优化轨迹;考虑空间离散对轨迹连续性造成的影响,基于二次规划平滑初始优化轨迹,由此获得最终目标轨迹。仿真实验结果表明,采用本文所提方法,能在狭窄通道场景下生成让车辆顺利通行的轨迹,而且所生成的轨迹连续、平滑;在多种狭窄通道场景下,与参照方法相比,采用该方法后,轨迹平均最大曲率从0.094 m-1降低至0.040 m-1,平均通行时间从6.18 s降低至4.80 s。

Due to the strictly restricted free area,vehicles have difficulties to pass through mine narrow corridors.To solve this problem,this paper presents a trajectory planning method based on optimal control.Narrow corridor model and vehicle single-track kinematics model are adopted to construct the trajectory planning model based on optimal control with an approximate space-discretization strategy considering factors like vehicle passage time,vehicle-boundary collision and vehicle actuator range.By vehicle kinematics integral,the control variable sequence solved by the above trajectory planning model leads to an initial optimal trajectory.Taking the discretization impact on trajectory continuity into account,the final target trajectory is formed after smooth the initial optimal trajectory by quadratic programming.Simulation results show that the trajectory generated by the proposed method is effective in narrow corridor scene,and the generated trajectory is continuous and smooth.Compared with the baseline method,the average maximum curvature reduces from 0.094 m-1 to 0.040 m-1 and the average passing time reduces from 6.18 s to 4.80 s in evaluate scenarios.