Precise parking control algorithm for mining unmanned transport vehicles
The precise parking control experiments and research are conducted using an autonomous mining transport vehicle as the platform.To achieve the desired parking position as accurately as possible,the article first designs a distance-velocity planning scheme.Based on this,the article proposes a feedforward and feedback actuator aperture control algorithm.Additionally,we consider acceleration compensation terms in the low-level control and optimizethe brake switching logic.Subsequently,wecarry out simulation tests and real-world vehicle experiments,and adjustcontrol parameters through the tests,eliminating the need for laborious system parameter identification.The results show that the adoption of a precise docking strategy reduces speed fluctuations caused by disturbances and optimizes the low-level control logic,effectively enhancing parking accuracy.
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维普
