Patent ID: 11880208
Assignee: CHINA UNIVERSITY OF MINING AND TECHNOLOGY
Field: Control (Instruments)
Classification: CPC G | IPC G

Claim 4:
5. The method for drivable area detection and autonomous obstacle avoidance of unmanned haulage equipment in deep confined spaces according to claim 4, wherein in step S243, the velocity inertia weight w is:, ω
   t
  
  =
  
   
    ω
    min
   
   +
   
    
     
      (
      
       
        ω
        max
       
       -
       
        
         rand
         (
         )
        
        ×
        
         ω
         min
        
       
      
      )
     
     2
    
    ×
    
     
      (
      
       t
       T
      
      )
     
     2
    
   
  
 

where, ωmin and ωmax are a minimum inertia weight and a maximum inertia weight respectively; t is a current number of iterations; and T is a maximum number of iterations.