Modeling of Laneway Environment and Locating Method of Roadheader Based on Self-Coupling and Hector SLAM

摘要

The method of laneway environment modeling and roadheader positioning based on Self-coupling and HectorSLAM was proposed to solve the problems of difficult extraction of environmental information of coal mine laneway and difficult determination of the position of roadheader and realization of autonomous mobilization of mine roadheader. The optimality of HectorSLAM was verified by experiments, and the deficiencies were pointed out. Then the self - coupling HectorSLAM algorithm was proposed. Finally, the self-coupling and Hector SLAM algorithms were run in ROS system. Environmental modeling of coal mine laneway was completed. The shaft bottom visualization positioning function of roadheader was realized. The comparative experiment proves that: Compared with the original algorithm, the self-coupling and Hector SLAM algorithms were more adaptive and more accurate in the simulated laneway environment.