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研究下坑MTATBOT定位和自动驾驶策略,基于距离计辅助惯性测量

Mingrui Hao¹, Xiaoming Yuan², Jie Ren³

¹Campus School of Mechanical and Electrical Engineering, China University of Mining and Technology Beijing, Beijing 100083, China.

Sensors (Basel, Switzerland)

|January 8, 2025

概括

本研究介绍了采矿无轨辅助运输机器人 (MTATBOT),以提高地下煤矿的安全性和效率. 机器人使用先进的SLAM系统,在具有挑战性的地下环境中进行精确的导航和自主物料运输.

科学领域:

机器人和自动化机器人与自动化
采矿工程采矿工程采矿工程
人工智能的人工智能

背景情况:

地下煤矿面临着过时的自动化,高劳动力需求和辅助运输系统频繁发生事故的挑战.
现有的系统缺乏必要的自动化,以在危险,封闭和潜在的爆炸性环境中安全和高效地运输材料.

研究的目的:

介绍一款新型采矿无轨辅助运输机器人 (MTATBOT),旨在用于地下煤矿的自动化和无人材料运输.
开发和验证一个基于距离测量的综合方法,用于在没有GNSS的地下环境中改进同步定位和绘图 (SLAM).
设计一种非线性控制策略,用于自主跟踪MTATBOT的轨迹.

主要方法:

开发 MTATBOT 配备内置感知和自动驾驶系统,用于地下作业.
实施基于距离测量的集成SLAM方法,以提高位置估计和减少位置模两可.
分析机器人动态模型,并应用非线性控制策略来遵循路径.

主要成果:

与现有解决方案相比,拟议的SLAM算法实现了更准确和更强大的机器人测距.
使用开发的算法获得了卓越的大规模地下道路测绘结果.
在虚拟和真实地下煤矿环境中成功验证了MTATBOT及其控制策略.

结论:

MTATBOT为地下煤矿中辅助运输的自动化提供了可行的解决方案,解决了安全和效率方面的问题.
基于测距的集成SLAM方法显著提高了在具有挑战性的地下环境中导航准确性和绘制地图.
开发的非线性控制策略使机器人能够可靠地自主跟踪轨迹,为无人操作铺平了道路.

关键词:

MTATBOT MTATBOT 的意思是什么意思斯拉姆斯兰姆斯兰姆斯兰姆斯兰姆斯兰姆斯兰姆斯兰姆斯兰姆斯兰姆斯自动驾驶自动驾驶的自动驾驶.作为辅助运输工具的辅助运输工具.它是防爆的,可以防爆.地下煤矿是一个煤矿.

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