Abstract:In view of the complex road conditions in the underground roadway, the unmanned driving target path of underground mining vehicles is divided into the main target path and the local obstacle avoidance target path. In the main target path planning, it is not necessary to consider the local obstacle avoidance problem in the main target path planning. After completion, local obstacle avoidance target path planning is carried out; vehicle trajectory tracking deviation control model and power steering control model are established; and the unmanned driving target path of underground mining vehicles can be planned and optimized through model simulation calculation. The target path planning method It has the advantages of simplicity, convenience, flexibility and reliability.