A method for controlling an underground unmanned vehicle and a device are provided. The method includes measuring a traveling speed, an acceleration and a current position of the unmanned vehicle, and predicting a traveling track of the unmanned vehicle based on the traveling speed, the acceleration and the current position of the unmanned vehicle; predicting a real-time first coordinate of each discrete point of an outline of the unmanned vehicle when the unmanned vehicle travels along the traveling track based on the current position and the traveling track of the unmanned vehicle; in response to detecting that there is an obstacle and a moving speed of the obstacle is greater than a first preset value detecting an acceleration of the obstacle, and predicting a trajectory of the obstacle based on the moving speed and the acceleration of the obstacle; predicting a real time second coordinate of each discrete point of the outline of the obstacle when the obstacle moves along the trajectory based on a current position and the trajectory of the obstacle; in response to determining that a distance between any first coordinate and any second coordinate at the same time point is less than a second preset value, determining a detour path based on the current position of the unmanned vehicle and the real-time second coordinate of each discrete point of the outline of the obstacle; controlling the unmanned vehicle to travel along the detour path. The present disclosure provides a method for automatic obstacle avoidance of underground unmanned vehicles against obstacles in moving. 1 BIDE1227365AU
METHOD FOR CONTROLLING UNDERGROUND UNMANNED VEHICLE AND DEVICE
2023-04-27
Patent
Elektronische Ressource
Englisch
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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