Study on path planning and tracking of the underground mining road-header

Abstract

According to the working characteristics of the underground road-header, path planning and movements scheduling for path correction of the road-header is formulated.The position and orientation errors of the road-header during working are also presented based on its kinematic model.Taking the working speed and turning angular speed as control inputs, the control law is designed and simplified to ensure the convergence of position and orientation errors based on the theory of sliding mode control.The stability of the proposed control system is proved by using the principle of Lyapunov.The corresponding simulations show that the designed tracking control enables the road-header to come back to the aimed path within limited adjusting steps, The whole scheduling scheme introduced for path correction is reasonable and feasible, and can provide a positive foundation for further study of automatic mining in the coal industry.

Keywords

• road-header
• path correction
• movements scheduling
• path tracking