부산대학교 도서관

Speed planning is a crucial aspect of intelligent mine vehicle systems. To address the issue of low operational efficiency caused by the uniform speed scheme, a novel approach is proposed. Firstly, an adaptive speed processing method is introduced, considering factors such as vehicle speed limits and road curvature. Then, a fuzzy control method is used to determine the maximum acceleration limit for speed regulation, taking into account road slope and vehicle load. Furthermore, the S-curve method is innovatively applied to vehicle speed planning, with optimization of the traditional seven-segment S-curve to enhance computational efficiency. Experimental results demonstrate a 22.93% improvement in the working efficiency of the mine vehicle compared to traditional uniform speed driving. Additionally, the planned velocity curve exhibits superior stability and smoothness compared to the traditional trapezoidal velocity planning approach.