基于模糊控制的井下自主铲运机的安全导航  

Safe Navigation of Underground Autonomous Carry Scraper Based on Fuzzy Control

作　　者：李晓梅[1,2] 贾明涛[1,2] 李宁[1,2] 陈忠强 

机构地区：[1]中南大学资源与安全工程学院,湖南长沙410083 [2]长沙迪迈数码科技股份有限公司,湖南长沙410083

出　　处：《矿冶工程》2013年第4期22-26,共5页Mining and Metallurgical Engineering

基　　金：国家高技术研究发展计划(2011AA060407);湖南省研究生科研创新项目(CX2011B116)

摘　　要：针对井下自主铲运机导航中的安全问题,研究了基于模糊控制的安全导航方法。以反应式导航为基本原理,采用模糊逻辑法,利用基于拓扑地图的结点追踪方法和基于导航线的识别及障碍物的定位技术,实现了井下自主铲运机的安全导航。研究结果可为铲运机提供一种安全实用的导航手段,有效提高铲运机导航的工作效率,提高了井下作业的安全性。Aiming at the safety problem in the navigation of underground autonomous carry scrapers, safe navigation method was proposed based on fuzzy control. Based on the basic principle of reactive navigation, it adopts fuzzy logic method, tracing method based on the nodes of the topological map, obstacles identification and positioning technology based on navigation lines, to achieve a safe navigation of underground autonomous carry scrapers. Study results can provide a safe and practical navigation mean for scrapers and effectively improve the efficiency of scrapers and the safety of underground operation.

关 键 词：井下自主铲运机 安全导航 模糊控制 路径跟踪 安全避障 

分 类 号：TD63[矿业工程—矿山机电]