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.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Terrain-Adaptive Longitudinal Control for Autonomous Trucks


    Contributors:
    Xiong, Xiaoyu (author) / Tian, Bin (author) / Zhang, Rui (author) / Sun, Yang (author) / Chen, Long (author)


    Publication date :

    2022-10-08


    Size :

    2665076 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Terrain Mapping for Autonomous Trucks in Surface Mine

    Wang, Junhui / Tian, Bin / Zhu, Yachen et al. | IEEE | 2022


    Trajectory Planning for Autonomous Mining Trucks Considering Terrain Constraints

    Tian, Fangyin / Zhou, Rui / Li, Zhiheng et al. | IEEE | 2021


    Adaptive functional testing for autonomous trucks

    M. Elgharbawy / I. Scherhaufer / K. Oberhollenzer et al. | DOAJ | 2019

    Free access

    Rough terrain fork lift trucks

    JCB,GB | Automotive engineering | 1986


    EFFICIENT AUTONOMOUS TRUCKS

    PATNAIK VIJAYSAI / GROSSMAN WILLIAM | European Patent Office | 2023

    Free access