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当前位置: 首页 > 文章 > 基于最优轨迹跟踪的地下铲运机无人驾驶技术 农业机械学报 2015,46 (12) 323-328
Position: Home > Articles > Auto-driving Technology for Underground Scraper Based on Optimal Trajectory Tracking Transactions of the Chinese Society for Agricultural Machinery 2015,46 (12) 323-328

基于最优轨迹跟踪的地下铲运机无人驾驶技术

作  者：
李建国;战凯;石峰;郭鑫;李恒通
单  位：
北京科技大学机械工程学院;北矿机电科技有限责任公司;北京矿冶研究总院
关键词：
铲运机;无人驾驶;最优轨迹;跟踪
摘  要：
结合地下巷道的特殊应用环境,提出了一种基于最优轨迹跟踪的铲运机无人驾驶技术。铲运机在无人驾驶时,通过车载传感器实时获取其实际的行驶轨迹相对于最优路径轨迹的偏差信息,包括横向位置偏差和航向角偏差,将偏差信息进行充分融合后,通过实时控制并调整铲运机前后铰接角的大小实现位置和航向角偏差不断趋向于零,以达到较好的跟踪最优路径轨迹目的。结合实际应用对算法进行了仿真测试,在模拟巷道环境下,利用2 m3铲运机验证了该无人驾驶技术,模拟实际环境下的实验结果证明,基于最优轨迹跟踪的方法可实现铲运机的无人驾驶。
译  名：
Auto-driving Technology for Underground Scraper Based on Optimal Trajectory Tracking
作  者：
Li Jianguo;Zhan Kai;Shi Feng;Guo Xin;Li Hengtong;School of Mechanical Engineering,University of Science and Technology Beijing;Beijing General Research Institute of Mining and Metallurgy;BRGIMMM Machinery and Electrics Technology Co.,Ltd.;
关键词：
Scraper;;Auto-driving;;Optimal trajectory;;Tracking
摘  要：
As for the special application environment of underground tunnels,an auto-driving technique of unmanned underground scraper was proposed based on optimal trajectory tracking. The core of this method is acquiring horizontal position deviation,course angle deviation through vehicle-sensor while the scraper is under auto-driving in the tunnels,with deviation information being mixed to realize the tendency to zero of deviation by adjusting fore and post splice angle of scraper through real-time control.A navigation coordinate has been set for controlling while the scraper is ready for auto-driving firstly.Then the principle of the controlling algorithm was introduced. How to calculate the horizontal position deviation and course angle deviation was explored in detail with the laser measurement system mounted on the top of the scraper's cab. The deviation was fused integration for the controlling data. The step of real-time controlling algorithm was executed in order to realize unmanned driving of underground scraper with steering systematical movements controlled by output controlling voltage of the valve. Simulation test on the algorithm was carried out combined with practical application. To further verify the feasibility of the algorithm,the method was applied to the real auto-driving control of two-cubic diesel scraper. The experimental result shows that this control algorithm based on deviation fusion can realize the auto-driving of scraper. The auto-driving control system can be adjusted easily and quickly as the control system owns fast tracking speed and realizes balance between fast and smooth without great overshoot and oscillation.

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