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.
Terrain-Adaptive Longitudinal Control for Autonomous Trucks
2022-10-08
2665076 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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