无人驾驶工程车辆多机协同作业智能规划方法研究
在研 · 2023—2027
吉林大学 · 工程车辆智能化Jilin University · Intelligent Construction Vehicles
姚宗伟Zongwei Yao
吉林大学唐敖庆特聘教授（英才），博士生导师Tang Aoqing Distinguished Professor (Yingcai), Doctoral Supervisor
研究工程车辆在非结构化环境中的感知与定位、自主作业、轨迹规划与跟踪控制，以及多工程车辆协同作业。
Research in perception and localization, autonomous operation, trajectory planning and tracking control, and collaborative construction vehicles in unstructured environments.
LiDAR SLAMAutonomous ExcavationMotion PlanningMulti-vehicle Collaboration
主题概念合成图，不代表实际项目或实验现场Concept composite; not an actual project or experimental site
Profile / 个人简介
面向真实作业过程，研究工程车辆的感知、决策与自主控制。
Perception, decision-making and autonomous control for real construction operations.
现任吉林大学唐敖庆特聘教授（英才）、博士生导师，主要开展工程车辆智能化关键技术研究。研究贯穿环境感知与状态估计、路径与轨迹规划、跟踪控制，以及装载机—自卸车等异构车辆协同作业。
Tang Aoqing Distinguished Professor (Yingcai) and doctoral supervisor at Jilin University. His research spans environmental perception and state estimation, path and trajectory planning, tracking control, and collaborative operations of heterogeneous construction vehicles.
- Position
- 吉林大学唐敖庆特聘教授（英才），博士生导师Tang Aoqing Distinguished Professor (Yingcai), Doctoral Supervisor
- Research
- 工程车辆智能化关键技术Intelligent technologies for construction vehicles
- Contact
- [email protected]
Research / 研究方向
从单机自主作业走向多车协同。
From autonomous machines to collaborative fleets.
研究对象覆盖装载机、挖掘机、矿用电铲与自卸车，关注算法在动态、非结构工程环境中的可实现性。
Research covers wheel loaders, excavators, electric shovels and haul trucks, with emphasis on deployable methods for dynamic and unstructured environments.
- 01
非结构化环境感知、定位与状态估计Perception, localization and state estimation in unstructured environments
面向动态、非结构作业场景，研究多源感知、激光 SLAM、工程车辆位姿重建以及作业状态识别。
Multi-source perception, LiDAR SLAM, pose reconstruction and operational state estimation for dynamic and unstructured worksites.
LiDAR SLAM3D VisionState Estimation - 02
装载机与挖掘机自主作业Autonomous operation of wheel loaders and excavators
围绕铲掘、装载、连续挖掘等核心作业过程，研究轨迹生成、作业策略与智能控制方法。
Trajectory generation, operation strategies and intelligent control for shoveling, loading and continuous excavation tasks.
Autonomous DiggingWheel LoaderExcavator - 03
路径规划与轨迹跟踪控制Path planning and trajectory tracking control
针对铰接式工程车辆和矿用电铲，开展运动规划、前后轴协同跟踪与复杂约束下控制研究。
Motion planning and tracking control for articulated construction vehicles and electric shovels under complex constraints.
Motion PlanningTracking ControlArticulated Vehicle - 04
多工程车辆协同作业规划Collaborative planning for multiple construction vehicles
研究装载机、自卸车等异构工程车辆的任务分配、协同路径规划与多车作业组织。
Task allocation, collaborative path planning and operation organization for heterogeneous loaders, trucks and other vehicles.
Multi-agentTask PlanningCollaboration
Selected Publications
围绕工程车辆自主作业形成连续研究脉络。
A continuous research trajectory in autonomous construction machinery.
以下为首版精选论文。完整列表包含23条教师主页公开论文记录，其中18条已核验为可直接发布。
Selected papers for this preview. The full list contains 23 records, including 18 verified for direct publication.
- 2026 DOI / Source ↗
Generalizable Collaborative Path Planning for Heterogeneous Construction Vehicles via DSN-GRU and Dual-Path Fusion
- 2026 DOI / Source ↗
Bio-Inspired Dyna-LIO: A Frog Vision-Based LiDAR SLAM for Engineering Vehicles in Dynamic Environments
- 2026 DOI / Source ↗
Shoveling-Induced Slip Prediction for Distributed Electric Wheel Loaders: A Feature-Enhance CNN-BiLSTM Approach
- 2025 DOI / Source ↗
Reinforcement Learning-Based Trajectory Planning for Continuous Digging of Excavator Working Devices in Trenching Tasks
- 2025 DOI / Source ↗
A Load Distribution Estimation Method for Multiple Trucks Incorporating Attention Mechanism
- 2024 DOI / Source ↗
Synchronized path planning and tracking for front and rear axles in articulated wheel loaders
Projects / 科研项目
以工程问题牵引方法研究与系统验证。
Engineering problems drive methods and system validation.
首版仅展示已有公开来源或原始材料支持的获批项目，不包含仅有申报书的项目。
Only funded projects supported by public or primary evidence are included; proposal-only records are excluded.
非结构环境下工程车辆自主作业关键技术研究
已结题 · 2018—2022
基于多场耦合的全液压顶驱性能优化研究
已结题 · 2018—2018
面向工程车辆主动安全控制的智能轮胎关键技术研究
已结题 · 2016—2018
面向智能装载机的无人驾驶关键技术研究
已结题
Patents / 专利成果
IP围绕轨迹规划、路径跟踪、位姿感知、装载作业与分布式电驱动形成的代表性专利候选。
Selected patent records covering trajectory planning, tracking control, pose perception, loading operations and distributed electric drive.
- 授权发明专利
一种基于人机协同条件下的实时轨迹生成与跟踪控制方法
CN 121066233 B
- 授权发明专利
挖掘机工作装置连续轨迹规划方法
CN 119692582 B
- 授权发明专利
一种基于3d视觉的挖掘机位姿识别方法
CN 119515981 B
- 授权发明专利
一种分布式电驱动无人装载机及其扭矩控制方法
CN 116215255 B
- 授权发明专利
一种铰接式车辆路径跟踪控制方法
CN 113721454 B
- 授权发明专利
基于机器视觉的满斗率预测系统和方法
CN 113486818 B
Contact / 联系
学术交流与研究合作。
Academic exchange and research collaboration.
欢迎围绕工程车辆智能化、无人装载机与挖掘机、多机协同规划等方向开展学术交流。
Academic exchange is welcome in intelligent construction vehicles, autonomous loaders and excavators, and collaborative multi-vehicle planning.