The invention relates to the technical field of image processing and environment modeling simulation, and provides a cloud planning strategy for an unmanned system in a strip mine area. The method comprises the following steps: acquiring a target position and a planning area boundary which each vehicle needs to reach in a marshalling vehicle team with n vehicles at present, if the current vehicle is igt; and when n is greater than or equal to 1 and less than or equal to n, finishing planning, otherwise, obtaining a motion track of the ith vehicle through path planning and speed planning, if no conflict exists, adding the motion track into the directed weighted graph, otherwise, taking a conflict node as a boundary condition of a time interval, performing speed planning on an existing planning path to obtain a track, planning the track, and obtaining an optimal path through evaluation. According to the method, the two-dimensional problem of multi-vehicle path planning is increased to the three-dimensional problem of multi-vehicle trajectory planning, the optimal multi-vehicle collaborative planning result is obtained under the condition that the time-space dimension is considered, the problem that a current mine area unmanned system seriously depends on a high-precision map is solved, and higher operation efficiency is achieved.

    本发明涉及图像处理和环境建模仿真技术领域,提供了一种面向露天矿区无人化系统的云端规划策略。该方法包括:获取当前具有n辆车的编组车队每辆车需要达到的目标位置和规划区域边界,若当前车辆i>n时,规划结束,否则经过路径规划,速度规划获得第i辆车的运动轨迹,若不冲突,将其加入到有向带权图中,否则,将冲突节点作为时间区间的边界条件,在已有的规划路径上进行速度规划得到轨迹并对其进行规划,经评价获得最优路径。本发明将多车路径规划的2维问题增加到多车轨迹规划的3维问题,在兼顾时空间维度的情况下获得最优的多车协同规划结果,解决当前矿区无人化系统对高精地图的重度依赖,具有更高的运行效率。


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    Title :

    Cloud planning strategy for strip mine area unmanned system


    Additional title:

    一种面向露天矿区无人化系统的云端规划策略


    Contributors:
    LI JIALIANG (author) / ZHOU HUASHENG (author) / ZHANG FEI (author) / WU HAIJIE (author)

    Publication date :

    2023-01-06


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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