| 摘要 |
Abstract of the disclosure The invention relates to an apparatus and method for finding collision-free drive paths for a mining vehicle in a mine. The drive path search is implemented in a data processing device and it employs a kinematic model of the mining vehicle and an environment model of the mine. An actual initial position and orientation of the mining vehicle is determined and input as a start point. One known point in the mine is selected as a goal point for the drive path. In the search process, several different steering movements are experimented on in relation to driving movements in order to find at least one steering sequence. (Figure 8) 4009687_1 (GHMatters) P92481.AU 18/01/13 11 --- - 5 2 16 .- 18 26 21b -24 FIG. 3 7 3 7 FIG 29 3352 31 Kineatic Evironmeit i 2 eveDrive path tr ee rulne3 generator, Measuring - .. poesrCollision Occupation device, avoidance gnid scanner '33 39 38i 37: |
