Research on the Deviation Correction Control of a Tracked Drilling and Anchoring Robot in a Tunnel Environment
<p>Composition of drilling and anchoring robot. 1. Left track mechanism, 2. main frame, 3. right track mechanism.</p> "> Figure 2
<p>The 3D model of the track mechanism.</p> "> Figure 3
<p>The geometric configuration of the tracked drilling and anchoring robot’s differential drive system in the xy plane.</p> "> Figure 4
<p>The relationship curve between the robot’s steering curvature <math display="inline"><semantics> <mi>κ</mi> </semantics></math>, velocity <span class="html-italic">v</span>, and the speeds of the left track <math display="inline"><semantics> <mrow> <msub> <mi>v</mi> <mi mathvariant="normal">L</mi> </msub> </mrow> </semantics></math> and right track <math display="inline"><semantics> <mrow> <msub> <mi>v</mi> <mi>R</mi> </msub> </mrow> </semantics></math> (<math display="inline"><semantics> <mrow> <msub> <mi>v</mi> <mi mathvariant="normal">L</mi> </msub> </mrow> </semantics></math> = 0, 10, 20, 30).</p> "> Figure 5
<p>The relationship graph between the robot’s turning radius <math display="inline"><semantics> <mi>ρ</mi> </semantics></math>, driving speed <span class="html-italic">v</span>, slippage ratio <span class="html-italic">i</span>, and the speeds of the left track <span class="html-italic">v<sub>L</sub></span> and right track <span class="html-italic">v<sub>R</sub></span>: (<b>a</b>) <span class="html-italic">i</span> = 0, (<b>b</b>) <span class="html-italic">i</span> = 0.3.</p> "> Figure 5 Cont.
<p>The relationship graph between the robot’s turning radius <math display="inline"><semantics> <mi>ρ</mi> </semantics></math>, driving speed <span class="html-italic">v</span>, slippage ratio <span class="html-italic">i</span>, and the speeds of the left track <span class="html-italic">v<sub>L</sub></span> and right track <span class="html-italic">v<sub>R</sub></span>: (<b>a</b>) <span class="html-italic">i</span> = 0, (<b>b</b>) <span class="html-italic">i</span> = 0.3.</p> "> Figure 6
<p>Analysis of the steering space drilling and anchoring robot.</p> "> Figure 7
<p>Relationship between the maximum steering angle of the robot and the distance to the sidewall: (<b>a</b>) analysis graph of robot steering capability, (<b>b</b>) robot steering angle <span class="html-italic">θ</span> vs. sidewall distance <span class="html-italic">Y<sub>R</sub></span>.</p> "> Figure 8
<p>Relationship between robot steering angle and distances from points <span class="html-italic">A</span>, <span class="html-italic">B</span>, <span class="html-italic">C</span>, and <span class="html-italic">D</span> to the sidewall.</p> "> Figure 9
<p>Path planning for robot correction in a tunnel environment.</p> "> Figure 10
<p>The robot path tracking PID kinematic controller.</p> "> Figure 11
<p>Block diagram of the robot control system.</p> "> Figure 12
<p>Simulink simulation model of the robot path tracking control system.</p> "> Figure 13
<p>Robot path tracking control simulation under different PID parameters: (<b>a</b>) path tracking simulation under different PID parameters; (<b>b</b>) x-y path tracking error under different PID parameters.</p> "> Figure 14
<p>Path tracking control simulation of the robot PID {0.1, 0.01, 0}: (<b>a</b>) path tracking simulation (<span class="html-italic">dy</span> = 0.1), (<b>b</b>) x-y path tracking error (<span class="html-italic">dy</span> = 0.1), (<b>c</b>) path tracking simulation ((<span class="html-italic">dy</span> = 0.5), (<b>d</b>) x-y path tracking error ((<span class="html-italic">dy</span> = 0.5).</p> "> Figure 15
<p>Drilling and anchoring robot test platform.</p> "> Figure 16
<p>Curve plot of robot steering correction control: (<b>a</b>) drive wheel speed curve, (<b>b</b>) displacement curve, (<b>c</b>) real-time error y-direction.</p> "> Figure 17
<p>Schematic diagram of the installation position of the ultrasonic sensors (1 ultrasonic sensor <span class="html-italic">US<sub>R</sub></span><sub>1</sub>, 2 ultrasonic sensor <span class="html-italic">US<sub>R</sub></span><sub>2</sub>).</p> "> Figure 18
<p>Curves of the displacement variation of the four corner points of the drilling and anchoring robot. (<b>a</b>) A, B, C, and D real-time displacement curves; (<b>b</b>) curves of the distance variation between points A, B, C, D and the sidewall.</p> ">
Abstract
:1. Introduction
2. Structure and Parameters of the Drilling and Anchoring Robot
3. Steering Kinematics Analysis of the Drilling and Anchoring Robot
3.1. Kinematic Analysis
3.2. Steering Curvature Analysis of the Drilling and Anchoring Robot
3.3. Analysis of Skid Steering in Drilling and Anchoring Robots
4. Analysis of the Deviation Correction Control Strategy for the Drilling and Anchoring Robot
4.1. Analysis of the Steering Space of the Robot
4.2. Relationship between the Steering Angle of the Robot and the Distance to the Sidewall
4.3. Correction and Steering Control Strategy for the Drilling and Anchoring Robot
- During , the drilling and anchoring robot maintains its current state and does not require correction. represents the permissible error for robot navigation, which must be set based on the tunnel environment, typically defaulting to 0.01 m.
- When and , the drilling and anchoring robot deviates towards the right side of the tunnel, requiring leftward correction.
- When and , the drilling and anchoring robot deviates towards the left side of the tunnel, requiring rightward correction.
5. Drilling and Anchoring Robot Path Tracking Control Test Analysis
5.1. Anchoring Robot Deviation Correction Path Planning in a Tunnel Environment
5.2. Design of the Robot Kinematic Controller
5.3. Construction of the Robot Path Tracking Control System
5.4. Analysis of Path Tracking Control Errors
6. Testing and Analysis of Lane Deviation Control in Tunnel Environments
7. Conclusions
- Steering Angle and Distance Relationship: The relationship between the steering angle of the drilling and anchoring robot and the distance to the sidewall in the roadway environment was determined. Based on this relationship, a corrective driving control strategy was formulated to enhance maneuverability and precision.
- Path Planning and PID Controller: Path planning for the corrective driving of the drilling and anchoring robot in the roadway environment was completed. A PID kinematic controller was built, and path-tracking control simulation experiments demonstrated that the tracking error was minimal, indicating a well-designed control system.
- Testing and Verification: A test platform for the corrective driving of the drilling and anchoring robot was established in a roadway environment. The performance of the corrective driving control was thoroughly tested, and the reliability of the proposed method was verified.
Author Contributions
Funding
Data Availability Statement
Conflicts of Interest
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Parameters | Value |
---|---|
Dimensions (L0 × W0 × H) | 4.95 × 4.28 × 3.1 m |
Track distance (B) | 3.9 m |
Distance from front axle to front end (L1) | 2.01 m |
Distance from rear axle to rear end (L2) | 0.83 m |
The distance of CM offset (a) | 0.1 m |
Travel speed (v) | 0~30 m/min |
Track length (D) | 2.67 m |
Track width (B0) | 0.38 m |
Track thickness (h) | 0.04 m |
Length of track contact with ground (L) | 2.11 m |
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Wang, C.; Ma, H.; Xue, X.; Mao, Q.; Song, J.; Wang, R.; Liu, Q. Research on the Deviation Correction Control of a Tracked Drilling and Anchoring Robot in a Tunnel Environment. Actuators 2024, 13, 221. https://doi.org/10.3390/act13060221
Wang C, Ma H, Xue X, Mao Q, Song J, Wang R, Liu Q. Research on the Deviation Correction Control of a Tracked Drilling and Anchoring Robot in a Tunnel Environment. Actuators. 2024; 13(6):221. https://doi.org/10.3390/act13060221
Chicago/Turabian StyleWang, Chuanwei, Hongwei Ma, Xusheng Xue, Qinghua Mao, Jinquan Song, Rongquan Wang, and Qi Liu. 2024. "Research on the Deviation Correction Control of a Tracked Drilling and Anchoring Robot in a Tunnel Environment" Actuators 13, no. 6: 221. https://doi.org/10.3390/act13060221
APA StyleWang, C., Ma, H., Xue, X., Mao, Q., Song, J., Wang, R., & Liu, Q. (2024). Research on the Deviation Correction Control of a Tracked Drilling and Anchoring Robot in a Tunnel Environment. Actuators, 13(6), 221. https://doi.org/10.3390/act13060221