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

Claim 5:
6. 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, for the drivable area detection information of the deep confined roadway established in step S1, a fitness function of a particle solution is established by taking the minimization of the total line length and the minimization of risk values as optimization objectives, where a relational expression of each solution in a search space and an objective function is:, f
  =
  
   
    f
    ⁡
    (
    
     
      X
      i
     
     ,
      
     
      D
      i
     
     ,
      
     
      R
      i
     
    
    )
   
   =
   
    
     
      (
      
       1
       -
       
        w
        R
       
      
      )
     
     ×
     
      
       ∑
       
        
         V
         
          j
          =
         
        
        ⁢
        
         V
         s
        
       
       
        V
        E
       
      
      
       V
       ⁢
       
        d
        j
       
      
     
    
    +
    
     
      w
      R
     
     ×
     
      
       ∑
       
        
         
          V
          j
         
         
          =
         
        
        ⁢
        
         V
         s
        
       
       
        V
        E
       
      
      
       V
       ⁢
       
        r
        j
       
      
     
    
   
  
 

where, ƒ represents the fitness function,, D
   i
  
  =
  
   
    
     ∑
      
    
    
     
      V
      j
     
     =
     
      V
      s
     
    
    
     V
     s
    
   
   ⁢
   
    Vd
    j
   
  
 

 represents a total length of a set of paths represented by the current particle i,, R
   i
  
  =
  
   
    
     ∑
      
    
    
     
      V
      j
     
     =
     
      V
      s
     
    
    
     V
     s
    
   
   ⁢
   
    Vr
    j
   
  
 

 represents a risk degree of the path, Vj is a j-th composition grid between a start point VS and end point VE of the path, Vrj represents the risk degree of the j-th grid, and W R represents a risk factor; and a method of computing the fitness function ƒ is made by weighting the length and risk value of each grid in a path solution set Xi according to risk degree indexes, adding obtained values, and taking a reciprocal of the obtained sum.