国内外露天矿山无人驾驶研究现状分析与发展前景
Analysis of Current Research Status and Development Prospects of Unmanned Driving in Open-pit Mines at Home and Abroad
陈善有 1郭洋 1田斌 2李涛 1刘宾 1郭顺 3江松4
作者信息
- 1. 西安建筑科技大学资源工程学院
- 2. 西藏中凯矿业股份有限公司
- 3. 西安建筑科技大学信息控制与工程学院
- 4. 西安建筑科技大学资源工程学院;西安市智慧工业感知、计算与决策重点实验室
- 折叠
摘要
随着智慧矿山建设的提出和无人驾驶技术的日趋成熟,传统露天采矿迎来了"矿用卡车无人驾驶"的应用热潮.对比分析国内外露天矿山无人驾驶技术的发展与现状,梳理其应用的基础条件及优势,并分析其在未来的发展前景.梳理发现,环境感知、定位导航、路径规划、运动控制等技术是露天矿卡车实现自动驾驶的核心技术,各项核心技术及其主要算法各有优缺点.预测多传感器融合环境感知、组合导航定位、基于深度学习的路径规划以及基于神经网络模型的运动控制等技术的应用是未来露天矿无人驾驶技术发展的必然趋势.
Abstract
With the proposal of intelligent mine construction and the maturity of driverless technolo-gy,the traditional open-pit mining has ushered in the application boom of'mine truck driverless'.The devel-opment and current situation of unmanned driving technology in open-pit mines at home and abroad are compared and analyzed,the basic conditions and advantages of its application are sorted out,and its future development prospects are analyzed.It is found that environmental perception,positioning and navigation,path planning,motion control and other technologies are the core technologies for open-pit truck to realize automatic driving.Each core technology and its main algorithms have their own advantages and disadvantag-es.The application of multi-sensor fusion environment perception,integrated navigation and positioning,path planning based on deep learning and motion control based on neural network model is the inevitable trend of the development of unmanned driving technology in open-pit mines in the future.
关键词
无人驾驶技术/露天矿山/环境感知/定位导航/路径规划/运动控制Key words
unmanned driving technology/open-pit mines/environmental perception/positioning and navigation/path planning/motion control引用本文复制引用
基金项目
国家自然科学基金青年项目(52104146)
陕西省教育厅服务地方专项重点培育项目(21JC024)
大学生创新创业训练计划项目(202210703005)
出版年
2023
NETL
NSTL
维普
万方数据