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| MULTI MODEL AUTONOMOUS DRIVING CONTROL METHOD FOR UNDERGROUND LOADER |
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Received:February 28, 2015
Revised:March 01, 2015
Accepted:March 04, 2015
Published Online:October 29, 2015
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| DOI： |
| KeyWord:underground loader; autonomous driving; control mode; manual teaching |
| Author | Institution |
| SHI Feng |
Beijing General Research Institute of Mining and Metallurgy |
| GU Hong-shu |
Beijing General Research Institute of Mining and Metallurgy |
| ZHAN Kai |
Beijing General Research Institute of Mining and Metallurgy |
| LI Jian-guo |
Beijing General Research Institute of Mining and Metallurgy |
| FENG Xiao-hua |
Beijing General Research Institute of Mining and Metallurgy |
| GUO Xin |
Beijing General Research Institute of Mining and Metallurgy |
| LI Heng-tong |
Beijing General Research Institute of Mining and Metallurgy |
| DUAN Chen-yue |
Beijing General Research Institute of Mining and Metallurgy |
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| Abstract: |
| According to the complicated underground tunnels conditions and the body structure characteristics of underground loader, the underground loader target path planning and deviation calculation can be combined, It can be divided into four kinds of calculation control mode, namely the scanning beam trigonometric calculation deviation control mode, scanning beam Symmetric calculation deviation control mode, Manual teaching control mode and Trajectory deviation reckoning control mode. in different underground tunnels environmental conditions, the use of different control mode for calculating the deviation or a combination of them, may obtain ideal autonomous driving control effect in reduce the amount of calculation and control complexity at the same time. |
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