Trajectory tracking control of autonomous heavy-duty mining dump trucks with uncertain dynamic characteristics  

作　　者：Liang CHEN Zhaobo QIN Manjiang HU Hongbo GAO Yougang BIAN Biao XU Xiaoyan PENG 

机构地区：[1]State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body,Hunan University,Changsha,410082,China [2]Wuxi Intelligent Control Research Institute of Hunan University,Wuxi,214115,China [3]Department of Automation,University of Science and Technology of China,Hefei,230026,China

出　　处：《Science China(Information Sciences)》2023年第10期242-258,共17页中国科学（信息科学）（英文版）

基　　金：supported by National Key R&D Program of China(Grant No.2021YFB2501803);National Natural Science Foundation of China(Grant Nos.52222216,52102394,U20A2225,U2013601);Anhui Province Natural Science Funds for Distinguished Young Scholar(Grant No.2308085J02);Scientific and Technological Innovation 2030—“New Generation Artificial Intelligence”Major Project(Grant No.2022ZD0116305);CAAI-Huawei Mind Spore Open Fund。

摘　　要：The proportion of mines using autonomous mining trucks is still very low at present.To promote the development of intelligent mining,it is urgent to proceed with the drive-by-wire modification to common mining trucks and design a motion control algorithm considering uncertain dynamic characteristics.This paper proposes a trajectory tracking control method for autonomous heavy-duty mining dump trucks(AHMDTs)with uncertain dynamic characteristics.In this method,a driving/braking force compensation algorithm based on an inverse dynamic model is designed to guarantee accurate longitudinal control with less control gain tuning.Using road curvatures,a modified rear-wheel position feedback control method is proposed to deal with reverse-path tracking,which can simultaneously reduce the lateral error and yaw angle error.A modified Stanley controller considering the collaborative preview based on speed and curvature is constructed to achieve accurate path tracking in the forward gear.Moreover,the proposed method focuses on the practice of trajectory tracking control in an open-pit mine condition with the adverse effects caused by uncertain vehicle dynamics,huge variable load,and large actuator lag.Real vehicle tests show that the proposed methodology can control AHMDTs with a low tracking error.

关 键 词：vehicle control trajectory tracking control driving/braking force compensation rear-wheel position feedback 

分 类 号：TD634[矿业工程—矿山机电] TP273[自动化与计算机技术—检测技术与自动化装置]