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Strip mine unmanned mine truck dynamic path planning method based on improved TEB method

A dynamic path, open-pit mine technology, applied in the fields of mine optimization, intelligent driving, and mining system engineering, can solve problems such as mine truck operation safety, and achieve the effect of improving ride comfort and ensuring driving safety.

Pending Publication Date: 2021-08-31
XI'AN UNIVERSITY OF ARCHITECTURE AND TECHNOLOGY
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Problems solved by technology

[0003] In order to overcome the shortcomings of the above-mentioned prior art, solve the safety problem of the mine truck in the dynamic path planning of the unmanned mine truck in the open-pit mine scene, and meet the actual needs of the current open-pit mine for the dynamic path planning of the unmanned mine truck, the purpose of the present invention To provide a dynamic path planning method for unmanned mine trucks in open-pit mines based on the improved TEB method

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  • Strip mine unmanned mine truck dynamic path planning method based on improved TEB method
  • Strip mine unmanned mine truck dynamic path planning method based on improved TEB method
  • Strip mine unmanned mine truck dynamic path planning method based on improved TEB method

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[0014] The implementation of the present invention will be described in detail below in conjunction with the drawings and examples.

[0015] The present invention is an open-pit mine unmanned mine card dynamic path planning method based on the improved TEB method, and the dynamic path planning flow chart of the method is as follows figure 1 shown. It contains the following steps:

[0016] (1) Construction of TEB dynamic path planning model.

[0017] TEB abstracts the pose trajectory model on the path after the global planning of the mining truck into an elastic belt model with time information. Specifically, a plurality of control points controlling the shape of the elastic band (ie, the pose of the mining truck) are inserted into the global static trajectory known before dynamic path planning. In order to display the kinematic information of the trajectory, the points and Define time information between points, establish a rubber band model with time information, and then ...

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Abstract

The invention provides a dynamic path planning method for an unmanned mine truck of a strip mine. According to the method, the problem of dynamic path planning of the unmanned mine truck at present is solved, and the problem of truck operation safety in dynamic path planning of the unmanned mine truck in a strip mine scene is mainly solved. The method comprises the following steps: establishing a strip mine unmanned mine truck dynamic path planning problem model which takes the shortest carrying time as a target and takes obstacle avoidance, advancing towards a local target, non-integrity constraint, carrying speed, acceleration, jerk and traction force under the conditions of heavy-load downhill and no-load uphill as constraints; representing the optimization problem by using a weight summation model; setting the target function weight of the weight summation model by using a classification weight method, and then solving the dynamic path planning problem of the unmanned mine truck of the strip mine by using a g2o general graphic optimization method, so that a local optimal trajectory is solved.

Description

technical field [0001] The invention belongs to the technical fields of mining system engineering, mine optimization and intelligent driving, and in particular relates to a dynamic path planning method for unmanned trucks in open-pit mines based on an improved TEB (Timed-Elastic-Band) method. Background technique [0002] With the development of 5G communication technology, the field of unmanned driving is developing rapidly. The path planning of unmanned vehicles is the key to the research of unmanned driving. At present, most of the research on unmanned driving path planning is basically concentrated on highways and other urban roads. There are few methods for unmanned driving path planning in complex scenarios. In the open-pit mine scene, due to harsh working conditions and frequent safety accidents, the landing operation of unmanned mining trucks is the main trend of future open-pit mine transportation. The global static path planning capability must also have the local...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0214G05D1/0276G05D1/0219
Inventor 顾清华张晓玥冯治东阮顺领李学现王倩陈露
Owner XI'AN UNIVERSITY OF ARCHITECTURE AND TECHNOLOGY
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