QuYuanyuan, SongLinke, JiXiaodong, WuMiao. Study on path planning and tracking of the underground mining road-header[J]. Journal of Mining Science and Technology, 2020, 5(2): 194-202.
Citation:
QuYuanyuan, SongLinke, JiXiaodong, WuMiao. Study on path planning and tracking of the underground mining road-header[J]. Journal of Mining Science and Technology, 2020, 5(2): 194-202.
QuYuanyuan, SongLinke, JiXiaodong, WuMiao. Study on path planning and tracking of the underground mining road-header[J]. Journal of Mining Science and Technology, 2020, 5(2): 194-202.
Citation:
QuYuanyuan, SongLinke, JiXiaodong, WuMiao. Study on path planning and tracking of the underground mining road-header[J]. Journal of Mining Science and Technology, 2020, 5(2): 194-202.
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.
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