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Reactive navigation method of underground unmanned articulated vehicle

A navigation method and articulated vehicle technology, applied in two-dimensional position/channel control, vehicle position/route/height control, non-electric variable control, etc., can solve the problem of poor path tracking effect

Inactive Publication Date: 2020-08-14
UNIV OF SCI & TECH BEIJING
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Problems solved by technology

[0005] The technical problem to be solved by the present invention is to provide a reactive navigation method for an underground unmanned articulated vehicle to solve the problem of poor path tracking effect existing in the prior art

Method used

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  • Reactive navigation method of underground unmanned articulated vehicle
  • Reactive navigation method of underground unmanned articulated vehicle
  • Reactive navigation method of underground unmanned articulated vehicle

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Embodiment Construction

[0061] In order to make the technical problems, technical solutions and advantages to be solved by the present invention clearer, the following will describe in detail with reference to the drawings and specific embodiments.

[0062] The invention provides a reactive navigation method for an underground unmanned articulated vehicle aiming at the problem that the existing path tracking effect is poor.

[0063] like figure 1 As shown, the reactive navigation method of the underground unmanned articulated vehicle provided by the embodiment of the present invention includes:

[0064] S101, sensing the roadway environment around the articulated vehicle;

[0065] S102. According to the perceived roadway environment around the articulated vehicle and the driving path of the articulated vehicle in the underground roadway, complete the segmented reference path planning in the reactive navigation process, wherein the obtained segmented reference path is based on the body of the articul...

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Abstract

The invention provides a reactive navigation method of an underground unmanned articulated vehicle, thereby improving the precision of path tracking. The method comprises the steps that a roadway environment around an articulated vehicle is sensed; according to the sensed roadway environment around the articulated vehicle and a sensed driving path of the articulated vehicle in the underground roadway, sectional reference path planning in the reactive navigation process is completed, wherein the obtained sectional reference path is a sectional straight line based on an articulated vehicle bodycoordinate system; and an optimization function of nonlinear model predictive control is determined according to the planned sectional reference path by taking optimization of the tracking effect of the articulated vehicle on the sectional reference path and the smoothness of controlled quantity output as targets to obtain an optimal control sequence. Therefore, the articulated vehicle tracks theplanned sectional reference path. The invention relates to the field of autonomous navigation.

Description

technical field [0001] The invention relates to the field of autonomous navigation, in particular to a reactive navigation method for an underground unmanned articulated vehicle. Background technique [0002] In recent years, with the continuous mining of mineral resources, the mining environment has become more severe. Using autonomous navigation of mining vehicles to replace manual driving to complete underground mining and transportation will significantly improve the safety and efficiency of underground mining work. . Underground articulated vehicles such as scrapers have become important equipment in underground mining transportation due to their good driving ability and passing ability. To achieve autonomous driving, underground articulated vehicles must rely on advanced autonomous navigation technology. [0003] Reactive navigation mainly makes reasonable predictions by sensing the surrounding environment, so as to make corresponding decisions, and does not rely on ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02G05D1/03
CPCG05D1/0212G05D1/0221G05D1/0257G05D1/0276
Inventor 孟宇白国星周蕾马宝全李凯伦冯立勇
Owner UNIV OF SCI & TECH BEIJING
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