矿车无人驾驶集群作业关键技术研究与应用

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中图分类号：U467 DOI：10.20042/j.cnki.1009-4903.2025.02.005

Abstract：Withtaidevelomntofitizationntellgeneintngiustryesgningfeientndlot unmannedminingvehicleclustercontrolsystemisof greatsignificance tothesafeproductionof mines.Thispaperadressesthe challengesencountered intheunmannedproductionprocessofminingveicles，suchasmisdetectionandmiseddetectionofsmal obstacles，lackofpositioingignalsinlocaloadsction，amicangesinaingareasandmutiicleformatioatis. Itproposeskyechicasolutiosidingmultensorfusionpereptionualfusionpositioingdamicpathplanngdglobl inteligentscheduling.Thesesolutionsenableminingvehicles tooperatesafelyandeficientlyincomplexscenarios.Themarket prospectsforunmannedminingtransportationarevast，ndtheimplementationofthissolutionwilsignificantlyreducesafetyrisksin mine transportation，improve production eficiency，and generatesubstantial economic and social benefits.

Keywords：Autonomous miningvehicle;Multi-sensorfusionperception; Dualfusionpositioning;Dynamicpath planning;Global intelligent scheduling

0 引言

随着激光雷达、摄像头等传感技术、5G通信技术以及人工智能技术的快速发展，城市、港口、园区、矿区等场景无人驾驶车辆成为众多科研院所、高校、新兴企业深入研究的项目和落地产品。（剩余3230字）