Automatic trajectory control of mining unmanned vehicle based on multi-sensor complementary fusion technology
The mining environment is complex and variable,including road conditions,obstacles,and other vehicles.How to a-chieve high-precision complementarity of multiple different types of sensor data in autonomous vehicle control has always been a diffi-cult problem.Therefore,a multi-sensor complementary fusion technology is proposed for automatic control of the operating trajectory of unmanned mining vehicles.Design a multi-sensor complementary fusion technology to detect relevant information about the sur-rounding environment of unmanned vehicles,obtain multi-sensor information,and provide a foundation for subsequent path planning.Based on the obtained fusion sensor information,the trajectory of the vehicle is planned to enable autonomous vehicles to avoid obsta-cles and choose a shorter path to reach the endpoint.Using simulated annealing algorithm to reduce the deviation between ideal and actual vehicle trajectories,achieving vehicle control over trajectories.Experimental results have shown that the proposed method can achieve automatic trajectory control of unmanned vehicles and has good obstacle avoidance effects.
Multi-sensor complementary fusion technologydriverless vehiclepath planningsimulated annealing algorithmtrajectory control
万方数据
维普
