Multi-mode autonomous traveling control method for underground load-haul-dump

The invention discloses a multi-mode autonomous traveling control method for an underground load-haul-dump. For complex environmental conditions of underground roadways, target route planning, deviation calculation and autonomous traveling control of the underground load-haul-dump are combined organically, target route planning and solution of deviation between a travelling track and a target route are achieved, and the multi-mode autonomous traveling control method for the underground load-haul-dump has the advantages that storage and calculating data volume of a measuring system is small, the running speed of a control system is high, and the system stability is high. In addition, calculation of the deviation of the underground load-haul-dump and autonomous traveling control are divided into four calculation control modes, the boundedness of a single mode is overcome, due to the fact that different deviation calculation control modes are adopted or combined to be adopted under different environmental conditions of the underground roadways, the calculation amount and control complexity are reduced, the multi-mode autonomous traveling control method for the underground load-haul-dump can be applied to various environmental conditions of the underground roadways, and the relatively ideal autonomous traveling control effect on the underground load-haul-dump can be achieved.