Abstract
Trajectory planning and tracking control algorithm based on a position and orientation deviation model are proposed to achieve path correction for the mining boom road-header working underground. The proposed strategy is assessed to be feasible and potentially practicable by simulations, from which the following statements are summarized. Firstly, trajectory planning is necessary since different trajectories correspond to different scenarios about undesirable excavation space, slipping level, and power consumption. Secondly, using the proposed tracking control algorithm, the road-header is guided back onto the expected path in limited adjusting steps, with smoothly varying rotation speeds of the driving wheels and regularly reducing pose errors. Lastly, it shows that by implying the SVD-unscented Kalman filtering in the tracking control, the adverse impacts of process and measurement noises are appeased obviously. This research provides an advisable modeling and valuable simulation for the road-header to achieve robotic operation underground.
Highlights
Boom road-header is used for underground roadway shaping in mining industry, by drilling and cutting the coal and rocks following a predesigned geological blueprint
To give a concise introduction, these literatures are classified into two classes which can be represented by references [1, 2], respectively: one class worked more on the optimal control strategy such as the model predictive control (MPC) used in [3] for obstacle avoidance; the other group placed more emphasis on dynamic analysis or device assistance to establish a kinematic model of the vehicle as practical as possible
Aiming to develop a simple but potential solution, this paper puts precise dynamic analysis of the road-header aside for a while but focuses on control system formulation based on kinematic modeling and simulation that considers possible process and measurement noises which were obtained by previous studies on real-time pose detection and track slipping of the working road-header
Summary
Boom road-header (or “road-header” for short) is used for underground roadway shaping in mining industry, by drilling and cutting the coal and rocks following a predesigned geological blueprint. Slip rates corresponding to different environments were estimated in this self-rectification planning, but the noises involved in pose measurement and movement processing were deficiently considered. Aiming to develop a simple but potential solution, this paper puts precise dynamic analysis of the road-header aside for a while but focuses on control system formulation based on kinematic modeling and simulation that considers possible process and measurement noises which were obtained by previous studies on real-time pose detection and track slipping of the working road-header.
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