矿产保护与利用2026，Vol.46Issue(1)：14-22,9.DOI:10.13779/j.cnki.issn1001-0076.2025.08.028
地下矿山极简SLAM无人驾驶系统设计与应用研究
Minimalist SLAM algorithms for unmanned approaches in constrained spaces
摘要
Abstract
Due to the narrow tunnel width,low illumination,and complex turns in underground mines,high requirements are placed on the accuracy and stability of autonomous navigation systems.In this study,a modular navigation and control system was developed for articulated unmanned transport vehicles to realize intelligent driving in such constrained environments.The system uses trajectory markers based on UWB for initial path planning,and integrates real-time LiDAR data for positioning correction.A polar coordinate solver,coupled with a safety-boundary adjustment strategy,was designed to compute steering angle and angular velocity.Control instructions were simplified through an adaptive PID controller.The path planning logic and control output model of a minimalist SLAM algorithm were also systematically established to clarify the core functional mechanisms.Field validation was carried out in the ore haulage roadway of Huaxi Tongkeng Mine.The experimental results showed that the proposed system achieved continuous autonomous navigation under no-light conditions,with an average path deviation of less than 0.35 m,and stable 24-hour unmanned operation.The system achieved 59.65%of the efficiency of manual operation.This study is expected to provide a low-cost and practical solution for intelligent transformation of mining under complex geological and constrained spatial conditions.关键词
极简SLAM/地下矿山/UWB激光融合/路径规划/无人驾驶/动态控制Key words
minimalist SLAM/underground mine/UWB-LiDAR fusion/path planning/autonomous driving/dynamic control分类
矿业与冶金引用本文复制引用
黄立,郭伟,张永玺,周科平,杨承业,吴乐文,成锡良..地下矿山极简SLAM无人驾驶系统设计与应用研究[J].矿产保护与利用,2026,46(1):14-22,9.基金项目
广西重点研发计划项目(2023AB01130) （2023AB01130）
湖南省高新技术产业科技创新引领计划项目(2020GK2087) （2020GK2087）
