Research on autonomous navigation method for crawler support vehicle based on regional grid

Abstract

The working condition of fully mechanized roadway is complex and also has the particularity of limited boundary. Aiming at the problem of heading angle correction of crawler support vehicle affected by the slip rate of coal roadway floor, an autonomous navigation method of crawler support vehicle is proposed in the grid scene of confined roadway space. The grid theory is used to divide the operational environment of fully mechanized roadway, and the heading reference influence degree is proposed as the simplified index of roadway model. Based on the motion characteristics of the crawler support vehicle, whose autonomous navigation motion model is established in the grid scene, the construction of mathematical model and the stability analysis of its hydraulic driving system are carried out. Adaptive control of the track speed on both sides of crawler support vehicle is realized to meet the accuracy requirements of the heading angle with the combination of fuzzy control and PID algorithm, which helps to complete the course correction of crawler support vehicle under the influence of different slip rates. The AMESim and MATLAB/Simulink semi-solid physical simulation model is built to simulate and verify the hydraulic walking system of crawler support vehicle. The simulation results show that the accuracy of the navigation algorithm is higher than that of the traditional PID control algorithm, and the track speed regulation process is more stable and less vibrational, which verifies the reliability and advancement of the autonomous navigation method based on the regional grid scene.

Keywords

• regional gird
• limited roadway space
• crawler support vehicle
• autonomous navigation
• fuzzy pid