Underground mining articulated vehicle trajectory planning method based on trust domain

Abstract

The invention discloses an underground mining articulated vehicle trajectory planning method based on a trust domain, and the method comprises the steps: generating a rough driving trajectory: forming an obstacle avoidance trajectory connecting the starting and ending positions on the premise of defining the starting and ending points of driving; and solving a fine optimal motion trajectory based on the trust domain technology: constructing an optimal control problem description trajectory planning task, then performing numerical solution on the optimal control problem description trajectory planning task, and introducing the trust domain technology in the numerical solution process to assist in acceleration calculation. According to the invention, a clear practical significance is provided for the trajectory planning method of the multi-body articulated vehicle in the underground mining scene, and the calculation efficiency is improved on the premise of guaranteeing the optimal solving result.

Description

technical field [0001] The invention relates to the technical field of underground mine articulated vehicles, in particular to a track planning method for underground mine articulated vehicles based on a trust domain. Background technique [0002] Downhole environments are often extremely narrow tunnels and therefore place very high demands on the vehicle's motion planning methods. Mine articulated vehicles are multi-body vehicles, while ordinary cars are rigid bodies. The complexity of articulated vehicles is reflected in the fact that all its power comes from the trailer part of the front of the vehicle, while many trailers suspended at the rear are forced to move passively. Therefore, articulated vehicles are typical underactuated systems, and it is generally difficult to plan open-loop trajectories or implement Closed-loop control. [0003] The existing trajectory planning methods suitable for multi-body articulated vehicles include sampling search methods and numerica...

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Problems solved by technology

[0004] The technical problem to be solved by the present invention is that for the existing trajectory planning method suitable for multi-body articulated vehicles, there are theoretical hidden dangers in the solution success rate and the optimality of the obtained results, and the problem of slow solution. A trajectory planning method for underground mine-used articulated vehicles based on trust domain

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