Using a wavelet medium for computer-aided controlling the movement of unmanned vehicles along quarry routes

摘要

Introduction. It is established that the most effective tool for monitoring and controlling the dynamics of current trajectories (CT) of unmanned vehicles (UMV) when moving along opencast mine routes in open pit mining is the wavelet transforms technique. Methodology. A detailed analysis of the procedures related to the technology of converting ID-current trajectory signals (CT-signals) into a multidimensional medium of time-frequency distributions (TFD) is carried out. The Wigner distribution is selected as a working distribution for processing CT-signals. This distribution is considered from the point of view of its ability to represent one-dimensional CT-signals of UMV in an information-intensive and functionally transparent format of specific TFDs. Research results and analysis. On the example of curved routes, the nature of the so-called forward and reverse transients of CT-signals of UMV, formed in the subsystems of external and autonomous control (ECSS and ACSS) of unmanned vehicles, is considered. Mathematical tools are described for wavelet transformations: Gabor wavelet functions, the wavelet matching pursuit algorithm (MP-algorithm), and Cohen's class time-frequency wavelet distributions.Conclusion. The procedures of processing the trajectory signals with using the means mentioned above make it possible to implement effectively the functions of controlling the UMV movement along current trajectories formed by the system on opencast mine routes.