信息通信磷矿巷道环境下无人驾驶运输车关键技术研究钟燕波（三峡大学，湖北宜昌443000）摘要：磷矿巷道是井下的运输道路，环境复杂，为巷道无人运输车路径规划以及避障带来巨大挑战。根据巷道环境的特点，提取巷道中心线用于规划路径，并结合物体检测设计避障策略，保障无人运输车安全行驶。首先基于巷道点云数据提取巷道边界，通过改进Voronoi图法在边界点上构建巷道的中心线；然后基于点云物体检测结果，结合巷道交通规则，制定无人运输车避障策略；最后利用Carsim和Matlab/Simulink进行联合仿真。结果表明，无人车能跟踪道路中心线行驶，遇到障碍物时能准确避开并做出正确的决策，保证了无人车地行驶安全。关键词：磷矿巷道；无人驾驶；中心线；物体检测；避障策略中图分类号：TP393PhosphateMineRoadwayEnvironmentResearchonUnmannedTransporter'sEssentialTechnologiesAbstract:Theenvironmentiscomplicatedonthephosphatemineroadway,anundergroundtransportationroute,whichmakesplanninganunmannedtransportvehicle'scourseandavoidingobstaclesextremelydifficult.Inordertoassurethesafetyoftheautonomoustransportvehicle,thecenterlineoftheroadisextractedforcourseplanningandanobstacleavoidancestrategycom-binedwithobjectdetectionisdevised.Initially,theroadwaypointclouddataisusedtoextracttheroadwayboundary,andthentheenhancedVoronoidiagramapproachisusedtogeneratetheroadwaycenterlineontheboundarypoint.Then,basedontheoutcomesofpointcloudobjectidentificationandtheregulationsofroadtraffic,theunmannedtransportvehicleobstacleavoi-dancestrategywascreated.Lastly,co-simulationisperformedusingCarsimandMatlab/Simulink.Theoutcomesdemonstratethattheunmannedvehiclecanfollowthecenterlineoftheroad,properlyavoidobstructions,andmakewisedecisions,ensuringitsownsafety.Keywords:mineroadway;unmanneddriving;centerline;objectdetection;obstacleavoidancestrategy1引言近年来，随着科学技术进步，矿区生产逐渐进入远程、智能、无人化时代，以达到减人增效的目的1-21。无轨胶轮车是矿区巷道运输系统中最重要的交通工具，常用于运输矿物、机械装备和矿区人员等，具有用途广、灵活性强等特点。但是，巷道路况复杂加之人工驾驶的不稳定性，导致井下安全事故频发3。因此，开展巷道无人运输既能保证安全...
