Motion planning of open-pit mine autonomous vehicle based on integral chain dynamics and Gröbner basis

ZHU Desheng; CHEN Yunchao; HUANG Zhipeng; YANG Jianjian; YANG Kehu; GE Shirong

doi:10.13225/j.cnki.jccs.2024.1051

Abstract：Autonomous driving in open-pit mines can reduce the number of operating personnel,lower production costs and safety risks,and has become an important direction for the intelligent development of open-pit mines.However,due to the relatively conservative driving speed of mining trucks planned by current autonomous driving algorithms,there is still a certain gap in its transportation efficiency compared with manned driving.To maximize the planned speed as much as possible on the premise of not violating vehicle-road physical constraints and ensuring driving safety,a motion planning method for fixed transportation routes in open-pit mines based on integral chain dynamics and Gröbner basis is proposed.First,a refined speed constraint curve for the entire section of the fixed transportation route is established according to the kinematic characteristics of mining trucks and road conditions in open-pit mines,with comprehensive consideration of conditions such as speed limit rules,road curvature,ground adhesion,and vehicle front-wheel angle.Subsequently,the in-tegral chain dynamics theory is used to characterize the autonomous driving motion planning problem in open-pit mines as a problem of solving a system of multivariate polynomial equations regarding the action time of force change rate.The Gröbner basis theory is applied to convert the system of multivariate polynomial equations into a parameterized regular polynomial system,and finally the motion planning problem is equivalent to the problem of solving a triangularized poly-nomial system.In practical deployment,only the start and end condition parameters need to be input to achieve fast iterat-ive solution,thus obtaining a motion planning scheme that meets driving safety requirements and has smooth acceleration.This method is used for motion planning of multiple sections of a real transportation route in an open-pit mine in Inner Mongolia under different initial and terminal conditions,and feasible solutions are quickly obtained in all cases.Finally,motion planning is conducted for a 3.61 km-long continuous curved round-trip route.Compared with the current actual op-eration records of manned mining trucks in the mine,the average operation time is reduced by 10.7%,and the calculation time for a 20 m planning task is within 100 ms,which indicates that this method can effectively improve the operation effi-ciency of vehicles in open-pit mines.