Underground mining articulated vehicle trajectory planning method based on trust domain

A trajectory planning, trust domain technology, applied in the direction of motor vehicles, two-dimensional position/navigation control, vehicle position/route/altitude control, etc. problem, to achieve the effect of improving computing efficiency

Active Publication Date: 2022-01-04
HUNAN UNIV
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  • Application Information

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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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  • Underground mining articulated vehicle trajectory planning method based on trust domain
  • Underground mining articulated vehicle trajectory planning method based on trust domain
  • Underground mining articulated vehicle trajectory planning method based on trust domain

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Embodiment Construction

[0114] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings in the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0115] The trajectory planning method of the underground mine articulated vehicle based on the trust domain includes:

[0116] Step 1. Generate a rough driving track: On the premise of specifying the starting point and end point of driving, an obstacle avoidance track connecting the starting and ending positions is formed. The specific planning method of the driving trajectory is: using the A* algorithm to plan the path PATH of the vehicle head; using the Pontrya...

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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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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/024G05D1/0221G05D1/0219G05D2201/02Y02T10/40
Inventor 李柏张坦探欧阳亚坤方勇钟翔
Owner HUNAN UNIV
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