采煤机搬运车前后车转向轨迹智能跟踪方法研究  

Research on Intelligent Tracking Method for Steering Trajectory of Front and Rear Vehicles of Shearer Carrier

作　　者：白来平 刘航 王磊 何泽 Bai Laiping;Liu Hang;Wang Lei

机构地区：[1]陕煤集团神南产业发展有限公司,陕西省榆林市719000 [2]连云港天明装备有限公司 [3]燕山大学机械工程学院

出　　处：《工程机械》2024年第12期1-7,I0017,共8页Construction Machinery and Equipment

基　　金：国家自然科学基金(52075469,12173054);秦皇岛市重点研发计划科技支撑项目(202301A271)。

摘　　要：针对矿井巷道环境复杂,遇到障碍时,运输车辆容易出现碰撞事故的问题,以分体式采煤机搬运车为研究对象,提出“前车避障,后车跟随”的避障策略。利用双向规划法设计前车的避障路径,并用反演法设计后车的跟踪策略,通过给定输入参数进行仿真。仿真结果显示前车能够有效避障,后车能够快速、准确地跟踪前车路径,避障策略有效。In view of the problem that the transport vehicles are prone to collision accidents when encountering obstacles in the complex mine tunnel environment,taking the split-type shearer carrier as the research object,an obstacle avoidance strategy of"the front vehicle avoids obstacles,and the rear vehicle follows"is proposed.The bidirectional panning method is used to design the obstacle avoidance path for the front vehicle,the inversion method is used to design the tracking strategy for the rear vehicle,and the simulation is carried out with the given input parameters.The simulation results show that the front vehicle can effectively avoid obstacles,while the rear vehicle can quickly and accurately track the path of the front vehicle,and the obstacle avoidance strategy is effective.

关 键 词：采煤机搬运车 反演法 双向路径规划 障碍回避 

分 类 号：TD421.6[矿业工程—矿山机电]