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.
关键词
多传感器互补融合技术/无人驾驶车辆/路径规划/模拟退火算法/轨迹控制
Key words
Multi-sensor complementary fusion technology/driverless vehicle/path planning/simulated annealing algorithm/trajectory control
维普
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