Research On Laser Autonomous Navigation Method Of Mine Crawler

The automatic driving technology of vehicles has always been a hot and difficult issue in the field of intelligent driving,especially the autonomous navigation driving technology based on tracked vehicles under mines with complex location environment.Due to the complex environment,the moving process of tracked vehicles is basically driven by workers.Safe and efficient operation requires high driving skills of drivers,so the efficiency is low,the accident rate is high,and accidents are easy to occur,causing property and personnel losses.In this paper,the autonomous navigation research is carried out for the moving process of tracked vehicles,aiming to promote the intelligent development of coal mines.This paper takes the model machine as the research object to conduct autonomous navigation research,introduces the research background and significance of the subject,as well as the development status of the position and attitude detection system,trajectory planning system and trajectory tracking system included in the autonomous navigation system,analyzes the problems in the process of designing the autonomous navigation system,and makes solutions and analysis for the autonomous navigation problems.The main work contents of the full text are as follows:The control theory of the model machine is analyzed,the crawler walking mechanism is introduced,the dynamic model and kinematics model of the crawler model vehicle are established,the relationship between the heading angle and instantaneous center position coordinates of the crawler model and the left and right crawler speed is obtained,the crawler steering principle is analyzed,and the motion equations of the crawler under different steering forms are obtained.The position and attitude detection system in the autonomous navigation of the model tracked vehicle is studied.The accuracy,advantages and disadvantages of some positioning systems currently used are introduced.Three laser ranging forms under the two principles of the laser ranging module are described.The phase laser ranging mode is selected as the theoretical basis of the rangefinder.A set of laser heading angle measurement system of pulse mechanism is designed for the measurement of heading angle.The current heading angle is calculated by selecting pulse laser and photoelectric receiving circuit,and the measurement principle is described.The heading angle is calculated by integrating laser ranging and heading angle measurement.Through the experimental data,the identification accuracy of laser points within25 m is ±0.77 mm.The path planning system in the autonomous navigation of the model tracked vehicle is studied.A* algorithm is used as the global path planning.The grid method is used to establish the environment map.The A* algorithm programming is simulated in two environments.The artificial potential field method is used as the path planning of local obstacle avoidance,and the artificial potential field method is optimized.The optimized potential field method program is compiled for local obstacle avoidance simulation experiment.The global planning path and the local planning path are smoothed with B-spline curve to make the planned path smooth and smooth,which is conducive to trajectory control.The program is compiled and simulation experiments are carried out.The results show that the planned path is smooth and collision free.The trajectory tracking system in the autonomous navigation of the model tracked vehicle is studied,and the control process is analyzed.A tracked vehicle trajectory tracking controller based on the virtual front wheel feedback control algorithm is proposed.The input solution model of the tracked vehicle is established,and the trajectory tracking controller program is compiled.The simulation experiments under three working conditions,the simulation experiment of the trajectory tracking of the roadway map under real technology and the real vehicle test under one working condition are carried out,Compared with the pure tracking method,the maximum linear error is less than 0.35 m.