Path tracking control of crawler mobile platform based on bang-bang control with boundary layer
In order to realize the path tracking of the on-off valve-controlled crawler mobile platform that cannot be closed-loop speed regulated, considering the low speed of the platform and the ability to turn in place, a bang-bang path tracking control algorithm with a boundary layer without the bottom wh...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | zho |
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Editorial Department of Industry and Mine Automation
2021-05-01
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| Series: | Gong-kuang zidonghua |
| Subjects: | |
| Online Access: | http://www.gkzdh.cn/jn-abD.aspx?ArticleID=14522 |
| _version_ | 1818777078641721344 |
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| author | WU Mingyang LI Xiaobo DAI Jiahui LEI Shiwei PAN Changsong XUE Chunrong |
| author_facet | WU Mingyang LI Xiaobo DAI Jiahui LEI Shiwei PAN Changsong XUE Chunrong |
| author_sort | WU Mingyang |
| collection | DOAJ |
| description | In order to realize the path tracking of the on-off valve-controlled crawler mobile platform that cannot be closed-loop speed regulated, considering the low speed of the platform and the ability to turn in place, a bang-bang path tracking control algorithm with a boundary layer without the bottom wheel speed control is proposed based on pure pursuit algorithm. Based on the geometric and kinematic relations, a target point tracking model of crawler mobile platform is established. Taking the heading angle deviation as the switching function, the method controls the forward and reverse rotation of the crawlers on both sides through the bang-bang algorithm, and introduces the boundary layer thickness parameter to reduce the switching frequency of the solenoid valve. According to the Lyapunov stability theory, it is proved that all states of the system outside the boundary layer are stable, but the heading angle deviation inside the boundary layer is unstable at the origin. Moreover, the smaller the look ahead distance is, the faster the heading angle deviation diverges. Based on the Matlab/Simulink and Recurdyn joint simulation platform, the rectangular target path is selected, and the simulation verifies the path pursuit effect of the bang-bang algorithm with different look ahead distances, and compares it with the pure pursuit algorithm of closed-loop speed regulation. A prototype test platform is built to conduct ground tests on the bang-bang path tracking control algorithm. The simulation and test results show that the bang-bang path tracking control algorithm can control the on-off valve-controlled crawler mobile platform to track straight or broken-line paths. Moreover, the tracking accuracy of the algorithm at corners is higher than that of the pure pursuit algorithm path of closed-loop speed regulation. The steady-state error is less than 9 cm, which meets the requirements of autonomous navigation walking of coal mine robots. |
| first_indexed | 2024-12-18T11:23:07Z |
| format | Article |
| id | doaj.art-bac12b8af3bc467db6bdd27484c85c6d |
| institution | Directory Open Access Journal |
| issn | 1671-251X |
| language | zho |
| last_indexed | 2024-12-18T11:23:07Z |
| publishDate | 2021-05-01 |
| publisher | Editorial Department of Industry and Mine Automation |
| record_format | Article |
| series | Gong-kuang zidonghua |
| spelling | doaj.art-bac12b8af3bc467db6bdd27484c85c6d2022-12-21T21:09:48ZzhoEditorial Department of Industry and Mine AutomationGong-kuang zidonghua1671-251X2021-05-01475889410.13272/j.issn.1671-251x.2021030049Path tracking control of crawler mobile platform based on bang-bang control with boundary layerWU Mingyang0LI Xiaobo1DAI Jiahui2LEI Shiwei3PAN Changsong4XUE Chunrong5CCTEG Chongqing Research Institute, Chongqing 400037, ChinaCCTEG Chongqing Research Institute, Chongqing 400037, ChinaCCTEG Chongqing Research Institute, Chongqing 400037, ChinaCCTEG Chongqing Research Institute, Chongqing 400037, ChinaCCTEG Chongqing Research Institute, Chongqing 400037, ChinaCCTEG Chongqing Research Institute, Chongqing 400037, ChinaIn order to realize the path tracking of the on-off valve-controlled crawler mobile platform that cannot be closed-loop speed regulated, considering the low speed of the platform and the ability to turn in place, a bang-bang path tracking control algorithm with a boundary layer without the bottom wheel speed control is proposed based on pure pursuit algorithm. Based on the geometric and kinematic relations, a target point tracking model of crawler mobile platform is established. Taking the heading angle deviation as the switching function, the method controls the forward and reverse rotation of the crawlers on both sides through the bang-bang algorithm, and introduces the boundary layer thickness parameter to reduce the switching frequency of the solenoid valve. According to the Lyapunov stability theory, it is proved that all states of the system outside the boundary layer are stable, but the heading angle deviation inside the boundary layer is unstable at the origin. Moreover, the smaller the look ahead distance is, the faster the heading angle deviation diverges. Based on the Matlab/Simulink and Recurdyn joint simulation platform, the rectangular target path is selected, and the simulation verifies the path pursuit effect of the bang-bang algorithm with different look ahead distances, and compares it with the pure pursuit algorithm of closed-loop speed regulation. A prototype test platform is built to conduct ground tests on the bang-bang path tracking control algorithm. The simulation and test results show that the bang-bang path tracking control algorithm can control the on-off valve-controlled crawler mobile platform to track straight or broken-line paths. Moreover, the tracking accuracy of the algorithm at corners is higher than that of the pure pursuit algorithm path of closed-loop speed regulation. The steady-state error is less than 9 cm, which meets the requirements of autonomous navigation walking of coal mine robots.http://www.gkzdh.cn/jn-abD.aspx?ArticleID=14522coal mine robot; crawler mobile platform; path tracking; bang-bang control; pure pursuit algorithm; boundary layer |
| spellingShingle | WU Mingyang LI Xiaobo DAI Jiahui LEI Shiwei PAN Changsong XUE Chunrong Path tracking control of crawler mobile platform based on bang-bang control with boundary layer Gong-kuang zidonghua coal mine robot; crawler mobile platform; path tracking; bang-bang control; pure pursuit algorithm; boundary layer |
| title | Path tracking control of crawler mobile platform based on bang-bang control with boundary layer |
| title_full | Path tracking control of crawler mobile platform based on bang-bang control with boundary layer |
| title_fullStr | Path tracking control of crawler mobile platform based on bang-bang control with boundary layer |
| title_full_unstemmed | Path tracking control of crawler mobile platform based on bang-bang control with boundary layer |
| title_short | Path tracking control of crawler mobile platform based on bang-bang control with boundary layer |
| title_sort | path tracking control of crawler mobile platform based on bang bang control with boundary layer |
| topic | coal mine robot; crawler mobile platform; path tracking; bang-bang control; pure pursuit algorithm; boundary layer |
| url | http://www.gkzdh.cn/jn-abD.aspx?ArticleID=14522 |
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