Affiliation:
1. Tongji University, China
Abstract
<div>Lateral control is an essential part of driverless mining truck systems. However,
the considerable steering lag and poor tracking accuracy limit the development
of unmanned mining. In this article, a dynamic preview distance was designed to
resist the steering lag. Then the vehicle–road states, which described the
real-time lateral and heading errors between the vehicle and the target road,
was defined to describe the control strategy more efficiently. In order to trade
off the tracking accuracy and stability, the Takagi–Sugeno (TS) fuzzy method was
used to adjust the weight matrix of the linear quadratic regulator (LQR) for
different vehicle–road states. Based on the actual mine production environment
and the TR100 mining truck, experimental results show that the TS-LQR algorithm
performed much better than the pure pursuit algorithm.</div>
Subject
General Health Professions
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