反应式导航在地下自主行驶铲运机中的应用 - Ingenta Connect.PDF

摇 第36卷第11期 煤摇 摇 炭摇 摇 学摇 摇 报 Vol.36摇 No.11摇 摇 2011年 11月 JOURNAL OF CHINA COAL SOCIETY Nov.摇 2011摇 摇 摇 文章编号:0253-9993(2011)11-1943-06 反应式导航在地下自主行驶铲运机中的应用 杨摇 超,陈树新,刘摇 立,罗维东,孟摇 宇,冯摇 凯 (北京科技大学 机械工程学院,北京摇 100083) 摘摇 要:基于“沿墙壁冶的反应式导航技术,设计了铲运机自主导航算法。 通过对铰接转向角和油 门的控制,使铲运机车体与墙壁保持一定的安全距离和安全角度自主行驶。 根据条形码技术设计 了一种可识别的编码信标,该信标可以有不同的编码组合,利用激光雷达的扫描和这种编码信标可 以实现对若干关键位置(例如起点、采掘点、倾倒点等)的判定,为导航决策系统提供精确的位置信 息以做出行为决策。 “沿墙壁冶的反应式导航技术结合“信标识别冶的关键位置判定技术,实现了地 下铲运机的自主导航行驶。 关键词:反应式导航;地下铲运机;沿墙壁技术;激光雷达;编码信标 中图分类号:TD655郾3摇 摇 摇 文献标志码:A Reactive navigation for underground autonomous scraper YANG Chao,CHEN Shu鄄xin,LIU Li,LUO Wei鄄dong,MENG Yu,FENG Kai (School of Mechanical Engineering,University of Science and Technology Beijing,Beijing摇 100083,China) Abstract:Using reactive navigation technology based on “wall鄄following冶,autonomous navigation algorithm was de鄄 signed out.By controlling the articulated angle and throttle,the body of the scraperwaskept certain safe distance and angle to the wall of thelaneanddriven autonomously.Atypeof barcodebeaconwasdesignedusingbarcodetechnolo鄄 gy;it has different codecomposition andcanbeeasily recognized.Withthehelp of the scanningof thelaserradar and the barcode beacon,certain key locations such as start point,mining point and dumping point can be determined,and those accurate locationswere suppliedtonavigation systemtomakebehavior decision.Using “wall鄄following冶 reactive navigation technology and determination of key locations technology with “barcode beacon recognition冶,autonomous navigation of the underground scraper was realized. Key words:reactive navigation;underground scraper;wall鄄following;laser radar;barcode beacon 摇 摇 铲装设备是地下采矿的最主要设备,地下铲运机 限定的坐标系下,规划好一条限定的路径