Abstract
Self-walking platform is used to support subway tunnel maintenance and construction. However, the kinematics model and motion control of the subway tunnel self-propelled platform are different from that of the plane, it is a non-holonomic constrained system with serious sliding, strong coupling and highly nonlinear, and the pipeline environment is complex, so it is difficult to accurately model. In order to solve these differences, the kinematic characteristics of wheels in cylindrical workspace are discussed first. The geometric constraints of self-walking platform in circular tunnels are also analyzed. Secondly, considering the complexities of self-walking platform motion model, a control algorithm based on fuzzy logic is proposed. Finally, through MATLAB and ADAMS joint simulation, the scenarios for virtual platform moving in circular tunnels are simulated, which shows the effectiveness of the algorithm.
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