A path-tracking intelligent optimizating for the LHD units

A path-tracking intelligent optimizating for the so called LHD (load-haul-dump) units used in underground mining is proposed in this paper.It establishes the machine hand model system for manipulator of this vehicle. Find the minimum energy consumption track. But the actual working track of the bucket is different from the ideal track in the actual work condition. So this paper exploits the measure of intellectual resistance minishing inserting and shoveling to optimize the spading track based on the the minimum energy consumption track. The results show that the system consumes energy smaller and the performance of the system is improved effectively.