Path Correction of the Boom Road-Header in Coal Mining Based on State Estimation

摘要

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.