Path Correction of the Boom Road-Header in Coal Mining Based on State Estimation
Joint Authors
Qu, Yuanyuan
Wu, Miao
Cheng, Xin
Zhang, Minjun
Fu, Shichen
Source
Mathematical Problems in Engineering
Issue
Vol. 2019, Issue 2019 (31 Dec. 2019), pp.1-13, 13 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2019-10-23
Country of Publication
Egypt
No. of Pages
13
Main Subjects
Abstract EN
Trajectory planning and tracking control algorithm based on a position and orientation deviation model are proposed to achieve path correction for the mining boom road-header working underground.
The proposed strategy is assessed to be feasible and potentially practicable by simulations, from which the following statements are summarized.
Firstly, trajectory planning is necessary since different trajectories correspond to different scenarios about undesirable excavation space, slipping level, and power consumption.
Secondly, using the proposed tracking control algorithm, the road-header is guided back onto the expected path in limited adjusting steps, with smoothly varying rotation speeds of the driving wheels and regularly reducing pose errors.
Lastly, it shows that by implying the SVD-unscented Kalman filtering in the tracking control, the adverse impacts of process and measurement noises are appeased obviously.
This research provides an advisable modeling and valuable simulation for the road-header to achieve robotic operation underground.
American Psychological Association (APA)
Qu, Yuanyuan& Cheng, Xin& Zhang, Minjun& Fu, Shichen& Wu, Miao. 2019. Path Correction of the Boom Road-Header in Coal Mining Based on State Estimation. Mathematical Problems in Engineering،Vol. 2019, no. 2019, pp.1-13.
https://search.emarefa.net/detail/BIM-1196079
Modern Language Association (MLA)
Qu, Yuanyuan…[et al.]. Path Correction of the Boom Road-Header in Coal Mining Based on State Estimation. Mathematical Problems in Engineering No. 2019 (2019), pp.1-13.
https://search.emarefa.net/detail/BIM-1196079
American Medical Association (AMA)
Qu, Yuanyuan& Cheng, Xin& Zhang, Minjun& Fu, Shichen& Wu, Miao. Path Correction of the Boom Road-Header in Coal Mining Based on State Estimation. Mathematical Problems in Engineering. 2019. Vol. 2019, no. 2019, pp.1-13.
https://search.emarefa.net/detail/BIM-1196079
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1196079