Accurate trajectory tracking with disturbance-resistant and heading estimation method for self-driving vibratory roller

摘要

Applying self-driving technology in engineering machinery is highly expected to decrease driver's fatigue and speed up construction schedule. Single drum vibratory roller is widely used in road and dam construction. This paper discusses the steering kinematics of a center-articulated roller and analysis the relationship between articulation angle and turning radius. Extended state observer is proposed to observe disturbance during vibration compaction on rough road. Based on the road curvature information in the preview distance, the feedforward steering angle is calculated with a pure-pursuit navigational algorithm. Feedback control combines current heading collected from inertial navigation system and estimated heading calculated by a heading prediction algorithm, which aimed to compensate the heading response lag. Simulation results show that an articulated drum roller can converge to the desired straight-line and circular arc trajectory with the proposed method.