|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
A path tracking control algorithm for underwater mining vehicles Sup Hong
The Journal of Mechanical Science and Technology, vol. 23, no. 8, pp.2030-2037, 2009
Abstract : In this paper, a path tracking control algorithm is formulated for the use of tracked underwater mining vehicles. The
algorithm consists of two parts, the forward velocity control and the heading angle control. The control algorithm is
designed based on kinematics, and it considers the track slips and the longitudinal and yaw dynamic models of the
tracked vehicle including the soil–track interaction force model. The desired heading angle is obtained by the so-called
¡°Line of Sight¡± method. The suggested algorithm is tested by numerical simulations using the TRACSIM software
developed by MOERO/KORDI, Korea. After the control gains are tuned by a series of numerical simulations, the algorithm
is verified on a scale vehicle on air on a soil bin test bed containing the cohesive soil of the Bentonite-water mixture.
Keyword :
Tracked vehicle; Control; Underwater mining
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
JMST Editorial Office: #702 KSTC New Bldg, 22 7-gil, Teheran-ro, Gangnam-gu, Seoul 06130, Korea
TEL: +82-2-501-3605, E-mail: editorial@j-mst.org |
JMST Production Office: #702 KSTC New Bldg, 22 7-gil, Teheran-ro, Gangnam-gu, Seoul 06130, Korea
TEL: +82-2-501-6056, FAX: +82-2-501-3649, E-mail: editorial@j-mst.org |
|
|
|
|