Research On Trajectory Tracking Control Of Unmanned Mining Dump Truck

With the qualitative leap of 5G communication technology,the advocacy of national policies and the needs of social development,the unmanned driving technology,which has been studied since the last century,has achieved rapid research results in recent years.On the one hand,this is due to the fact that it can greatly reduce safety accidents,reduce traffic congestion and increase efficiency.On the other hand,it is also because the technology is a comprehensive and complex technological crystallization,which can drive the development of related industries and promote social and economic progress.Therefore,many scientific research institutions,technology companies,large automobile manufacturing enterprises and universities are actively participating in technological innovation and technology research and development,and put them into different application sites according to the development plan,such as mining areas,ports,freight warehouses,etc.,in order to gain advantages for enterprises.This paper takes the intelligent construction of the mining area as the background,and focuses on the trajectory tracking control of the unmanned technology of the mining dump truck in the mining area.The main research contents of the full text are as follows:(1)In view of the complex environment of the mining area,in order to plan a drivable path faster and more efficiently and provide a "road" for the feasibility of the control algorithm below,it is necessary to design an appropriate path planning algorithm.Firstly,the basic principle and basic classification of path planning algorithm are summarized.Then it introduces the basic principle of Rapid Search Random Tree Algorithm(RRT)and the research status based on the algorithm theory.Finally,an improved two-way RRT*algorithm is proposed and the algorithm design is completed.The experiments show that it can plan a shorter path faster in a long-distance environment.The path planning speed is increased by about 46.64%,and the path length is shortened by about 3.01%.(2)For the complex environment of the mining area,it is necessary to solve the problem of accurately and stably tracking the trajectory of a mining dump truck under a given reference trajectory.Firstly,the algorithm principle of Virtual Terrain Field(VTF)is outlined and the shortcomings of the real vehicle experiments based on the algorithm are identified.Then,combined with the advantages of the fuzzy control algorithm,a fuzzy VTF lateral control algorithm is proposed and specific algorithm design is completed.Afterwards,in terms of longitudinal speed following,the basic principle of PID algorithm and its shortcomings in real vehicle experiments based on this algorithm are firstly introduced.Then,combined with the advantages of fuzzy control algorithm and the dynamic model of mining dump truck,a fuzzy PI longitudinal control algorithm based on the dynamic model is proposed and the specific algorithm design is completed.(3)For the horizontal and vertical trajectory following control algorithm designed above,the feasibility of the control algorithm is verified by the joint simulation of Car Sim and Matlab&Simulink.Then,the C++ horizontal and vertical code program was written based on the system platform of Linux and ROS,and the new designed algorithm was verified on the NET200 mining dump truck of Northern Heavy Industry,which verified the feasibility and good tracking effect of the algorithm.At the same time,the verification of the improved two-way RRT* planning algorithm was completed based on the system.