Speed Planning and Obstacle Avoidance Method for Unmanned Mining Vehicle in Dynamic Environment
Aiming at the problem that the autonomous obstacle avoidance of unmanned mine vehicles is only safe in a static environment,a speed planning and obstacle avoidance method based on dynamic obstacle environment was proposed.Firstly,the range swept by dynamic obstacles in the near future was mapped onto an s-t(space-time)graph in a two-dimensional grid map.Then,an algorithm for determining a safe speed range based on the s-t graph was studied to ensure the safety of unmanned mining vehicle operations,and to achieve smooth speed variations,a quadratic programming(QP)speed optimization model based on optimal control principles was formulated.Finally,a hybrid A*algorithm was designed,utilizing the search results from the s-t graph as its initial solution to assist in solving the optimization problem.Simulation and on-road tests demonstrate that the proposed method achieves a success rate of over 98％and exhibits favorable real-time performance.When the speed planning algorithm is effective,the overall average time consumption of the algorithm basically meets the real-time requirements,and the worst solution time is also within the controllable range.
万方数据
维普
