磷矿巷道环境下无人驾驶运输车关键技术研究.pdfVIP

信息通信 2023年第05期 (总第 245 期) 磷矿巷道环境下无人驾驶运输车关键技术研究 钟燕波 （三峡大学，湖北宜昌443000） 摘要：磷矿巷道是井下的运输道路，环境复杂，为巷道无人运输车路径规划以及避障带来巨大挑战。根据巷道环境的特 点，提取巷道中心线用于规划路径，并结合物体检测设计避障策略，保障无人运输车安全行驶。首先基于巷道点云数据 提取巷道边界，通过改进Voronoi 图法在边界点上构建巷道的中心线；然后基于点云物体检测结果，结合巷道交通规则， 制定无人运输车避障策略；最后利用Carsim和Matlab/Simulink进行联合仿真。结果表明，无人车能跟踪道路中心线行 驶，遇到障碍物时能准确避开并做出正确的决策，保证了无人车地行驶安全。 关键词：磷矿巷道；无人驾驶；中心线；物体检测；避障策略 中图分类号：TP393 文献标识码：B 文章编号：2096-9759(2023)05-0025-05 Phosphate Mine Roadway Environment Research on Unmanned Transporters Essential Technologies ZHONG Yanbo (China Three Gorges University, Yichang 430002,China) Abstract: The environment is complicated on the phosphate mine roadway, an underground transportation route, which makes planning an unmanned transport vehicles course and avoiding obstacles extremely difficult. In order to assure the safety of the autonomous transport vehicle, the center line of the road is extracted for course planning and an obstacle avoidance strategy com- bined with object detection is devised.Initially, the roadway point cloud data is used to extract the roadway boundary, and then the enhanced Voronoi diagram approach is used to generate the roadway center line on the boundary point. Then, based on the outcomes of point cloud object identification and the regulations of road traffic, the unmanned transport vehicle obstacle avoi- dance strategy was created. Lastly, co-simulation is performed using Carsim and Matlab/Simulink. The outcomes demonstrate that the unmanned vehicle can follow the center line of the road, properly avoid obstructions, and make wise decisions, ensuring its own safety. Key words: mine ro