Study on path planning and tracking of the underground mining road-header

Accordingtotheworkingcharacteristicsoftheundergroundroad-header,pathplanningand movementsschedulingforpathcorrectionoftheroad-headerisformulated.Thepositionandorientation errorsoftheroad-headerduringworkingarealsopresentedbasedonitskinematicmodel.Takingthe workingspeedandturningangularspeedascontrolinputs,thecontrollawisdesignedandsimplifiedto ensurethe convergence of position and orientation errors based on the theory of sliding mode control.ThestabilityoftheproposedcontrolsystemisprovedbyusingtheprincipleofLyapunov.Thecorrespondingsimulationsshowthatthedesignedtrackingcontrolenablestheroad-headertocomebackto theaimedpathwithinlimitedadjustingsteps,Thewholeschedulingschemeintroducedforpathcorrectionisreasonableandfeasible,andcanprovideapositivefoundationforfurtherstudyofautomaticmininginthecoalindustry.