地下铲运机跟踪轨迹推算模型研究

A Study on Underground Loader Tracking Track Calculation Model

路径跟踪是实现地下铲运机自动化作业的基本任务之一。本文对地下铲运机跟踪轨迹特性进行了研究,对轨迹参数进行了定义,推导出了轨迹偏差与车辆结构尺寸、转向角、转向角速率、车速、路径曲率的函数关系,建立了轨迹推算精确模型,为地下铲运机导航控制器的设计奠定了基础。

Tracking path is one of basic task for underground loader auto-drive.In this paper,underground loader tracking track features are studied,track parameters are defined,functions are deduced among track deviation and the vehicle structure size,steering angle,steering angle velocity,vehicle speed,path curvature.Track calculating precise model is built.Therefore a reliable basis is laid for underground loader navigation controller design.