Autonomous driving of mining trucks is crucial to the construction of intelligent mines. In open-pit mines, complex terrain changing brings great challenges to the control performance of autonomous trucks. To solve this problem, a novel terrain-adaptive longitudinal control (TA-LC) algorithm is proposed by combining the adaptive feed-forward PID and the mine terrain. The TA- LC requires fewer calibration parameters, which only need one set of parameters to keep stability under various terrains. Compared with the traditional PID controller, the steady-state error of the vehicle speed is reduced. Simulation experiments are carried out to verify the effectiveness and stability of the TA- LC. The TA- LC is also applied on the autonomous trucks in JiDong Cement Mine.


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    Titel :

    Terrain-Adaptive Longitudinal Control for Autonomous Trucks


    Beteiligte:
    Xiong, Xiaoyu (Autor:in) / Tian, Bin (Autor:in) / Zhang, Rui (Autor:in) / Sun, Yang (Autor:in) / Chen, Long (Autor:in)


    Erscheinungsdatum :

    2022-10-08


    Format / Umfang :

    2665076 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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