针对地下无人铲运机反应式导航存在的转向与回正滞后、对宽度变化的弯道适应性较差等问题，提出了基于非线性模型预测控制(NMPC)的反应式导航系统，其中设计了基于NMPC算法的反应式导航运动控制器，并针对NMPC控制器所需要的局部参考路径，提出了一种分段式局部路径决策策略与之相匹配。NMPC控制器的设计包括采用欧拉法推导地下铰接式铲运机的非线性预测模型，然后设立基于铲运机约束条件的优化目标函数进行最优控制序列求解。分段式局部路径决策策略则是将地下巷道拟合分为多种典型作业环境并分别在不同环境下提出相应的决策策略，在铲运机行驶中根据预测时域内的巷道环境信息实时调整局部参考路径，然后将局部参考路径信息提供给NMPC控制器并进行跟踪。通过仿真实验设置不同仿真环境对本文提出的反应式导航系统进行验证并与基于线性时变模型预测控制(LTV-MPC)的反应式导航系统进行对比，仿真效果表明，本文提出的地下无人铲运机反应式导航系统能够在较窄的巷道内实现自主导航，并且能够适应宽度变化的巷道，在多种仿真巷道环境中铲运机与巷道壁的距离最小值为0.73m，且航向误差能够在5s内由0.89rad收敛至稳定状态，稳态误差趋向于0.001rad，铰接角输出较为平顺，提高了地下巷道弯道处参考路径的安全通过性和铲运机对宽度变化的巷道的适应性。

To overcome the problems of return lag after steering and poor adaptability to bends with varying widths in the reactive navigation of unmanned Load-Haul-Dump (LHD) unit,a reactive navigation system based on non-linear model predictive control (NMPC) is proposed. A motion controller based on NMPC algorithm is designed and a sec- tional local path decision strategy is proposed to match the NMPC controller. A nonlinear predictive model based on LHD model is deduced by Euler method,and an optimal function which consist of limits is set up to solve the optimal control sequence. The sectional local path decision-making strategy divides the underground roadway fitting into several typical working environments and proposes some corresponding decision-making strategies in different environments. The local reference path is adjusted in real time according to the roadway environment information in the predicted time domain during the driving of the LHD and then the local reference path information is provided to the NMPC con- troller for tracking. The reactive navigation system is validated by some simulation experiments in different environ- ments and comparison with the reactive navigation system based on linear time-varying model predictive control (LTV- MPC). The results show that the reactive navigation system proposed can realize an autonomous navigation in narrow roadways,and adapt to the roadways with varying widths. When driving in some different simulation environments,the minimum distance between the LHD unit and the roadway wall is 0. 73 m,and the heading error can converge from 0. 89 rad to stable state which tends to 0. 001 0 rad within 5 s,which greatly improves the safety of the reference path at the bend and the adaptability of the roadway with different widths.