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Underground unmanned carry-scraper path planning method based on improved RRT algorithm

A path planning and scraper technology, applied in the direction of navigation calculation tools, etc., can solve the problems of unplanned and low success rate, and achieve the effect of saving time and improving success rate

Pending Publication Date: 2018-06-22
UNIV OF JINAN
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the working environment of the unmanned loader is a narrow underground passage. The traditional RRT algorithm needs complex calculations to plan a feasible path, and the success rate is low, so it is impossible to efficiently and quickly plan a path in a narrow space.

Method used

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  • Underground unmanned carry-scraper path planning method based on improved RRT algorithm
  • Underground unmanned carry-scraper path planning method based on improved RRT algorithm
  • Underground unmanned carry-scraper path planning method based on improved RRT algorithm

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Embodiment Construction

[0010] Below in conjunction with accompanying drawing, the present invention is described in detail.

[0011] first step:

[0012] Determine the travel environment of the underground unmanned LHD, perform path planning in the binary obstacle area, and model the travel environment, assuming that the task space is C , represents the feasible region, Indicates the obstacle area, and Same as C A subset of , and satisfy:

[0013]

[0014]

[0015] initial position and target position , the planned path must not touch obstacles, which is also the most important constraint in path planning.

[0016] Step two:

[0017] Determine the minimum turning radius of the scraper. The underground unmanned scraper can only be realized by the rolling of the tires during the steering process, and the lateral sliding of the tires cannot occur. Model the movement of the scraper, specifically as figure 1 As shown, the angle between the centerline of the front half of the scra...

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Abstract

The invention relates to the field of path planning, in particular to an underground unmanned carry-scraper path planning method based on an improved RRT algorithm. Although the path planning method based on the RRT algorithm can be used for solving a path planning problem, when a free configuration space is a narrow channel, the carry-scraper needs to cross the narrow channel to reach a terminal,it often requires more dense sampling to find the connectivity of the narrow channel, and the solve efficiency and success rate of the algorithm are influenced. Through improvement of the RRT algorithm, the method is more suitable for path planning under narrow channels, the work efficiency of the underground unmanned carry-scraper is obviously improved, and the method has broad application prospects.

Description

technical field [0001] The invention relates to the field of path planning, in particular to a path planning method for an underground unmanned scraper based on an improved RRT algorithm. Background technique [0002] With the increase of mining underground depth, the mining environment is also worse, which seriously restricts the progress of mining work, and then seriously hinders the development of our country's economy. Unmanned mining is the development trend of the mining industry. Usually, unmanned underground LHDs are used for unmanned mining. Path planning is an important part of the autonomous control of underground unmanned LHDs. [0003] The RRT algorithm is a commonly used path planning algorithm at present, and it is mostly used in the path planning of ground robots. However, the working environment of the unmanned loader is a narrow underground passage. The traditional RRT algorithm needs complex calculations to plan a feasible path, and the success rate is lo...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 孙钦鹏李猛王灿王天和刘斌王广
Owner UNIV OF JINAN