A Novel Relative Navigation Control Strategy Based on Relation Space Method for Autonomous Underground Articulated Vehicles
This paper proposes a novel relative navigation control strategy based on the relation space method (RSM) for articulated underground trackless vehicles. In the RSM, a self-organizing, competitive neural network is used to identify the space around the vehicle, and the spatial geometric relationship...
Saved in:
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Wiley
2016-01-01
|
| Series: | Journal of Control Science and Engineering |
| Online Access: | http://dx.doi.org/10.1155/2016/2352805 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1832568280011767808 |
|---|---|
| author | Fengqian Dou Yu Meng Li Liu Qing Gu |
| author_facet | Fengqian Dou Yu Meng Li Liu Qing Gu |
| author_sort | Fengqian Dou |
| collection | DOAJ |
| description | This paper proposes a novel relative navigation control strategy based on the relation space method (RSM) for articulated underground trackless vehicles. In the RSM, a self-organizing, competitive neural network is used to identify the space around the vehicle, and the spatial geometric relationships of the identified space are used to determine the vehicle’s optimal driving direction. For driving control, the trajectories of the articulated vehicles are analyzed, and data-based steering and speed control modules are developed to reduce modeling complexity. Simulation shows that the proposed RSM can choose the correct directions for articulated vehicles in different tunnels. The effectiveness and feasibility of the resulting novel relative navigation control strategy are validated through experiments. |
| format | Article |
| id | doaj-art-36630761b2974dae97380e27cbcdb82a |
| institution | Kabale University |
| issn | 1687-5249 1687-5257 |
| language | English |
| publishDate | 2016-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Control Science and Engineering |
| spelling | doaj-art-36630761b2974dae97380e27cbcdb82a2025-02-03T00:59:24ZengWileyJournal of Control Science and Engineering1687-52491687-52572016-01-01201610.1155/2016/23528052352805A Novel Relative Navigation Control Strategy Based on Relation Space Method for Autonomous Underground Articulated VehiclesFengqian Dou0Yu Meng1Li Liu2Qing Gu3University of Science and Technology Beijing, Beijing, ChinaUniversity of Science and Technology Beijing, Beijing, ChinaUniversity of Science and Technology Beijing, Beijing, ChinaUniversity of Science and Technology Beijing, Beijing, ChinaThis paper proposes a novel relative navigation control strategy based on the relation space method (RSM) for articulated underground trackless vehicles. In the RSM, a self-organizing, competitive neural network is used to identify the space around the vehicle, and the spatial geometric relationships of the identified space are used to determine the vehicle’s optimal driving direction. For driving control, the trajectories of the articulated vehicles are analyzed, and data-based steering and speed control modules are developed to reduce modeling complexity. Simulation shows that the proposed RSM can choose the correct directions for articulated vehicles in different tunnels. The effectiveness and feasibility of the resulting novel relative navigation control strategy are validated through experiments.http://dx.doi.org/10.1155/2016/2352805 |
| spellingShingle | Fengqian Dou Yu Meng Li Liu Qing Gu A Novel Relative Navigation Control Strategy Based on Relation Space Method for Autonomous Underground Articulated Vehicles Journal of Control Science and Engineering |
| title | A Novel Relative Navigation Control Strategy Based on Relation Space Method for Autonomous Underground Articulated Vehicles |
| title_full | A Novel Relative Navigation Control Strategy Based on Relation Space Method for Autonomous Underground Articulated Vehicles |
| title_fullStr | A Novel Relative Navigation Control Strategy Based on Relation Space Method for Autonomous Underground Articulated Vehicles |
| title_full_unstemmed | A Novel Relative Navigation Control Strategy Based on Relation Space Method for Autonomous Underground Articulated Vehicles |
| title_short | A Novel Relative Navigation Control Strategy Based on Relation Space Method for Autonomous Underground Articulated Vehicles |
| title_sort | novel relative navigation control strategy based on relation space method for autonomous underground articulated vehicles |
| url | http://dx.doi.org/10.1155/2016/2352805 |
| work_keys_str_mv | AT fengqiandou anovelrelativenavigationcontrolstrategybasedonrelationspacemethodforautonomousundergroundarticulatedvehicles AT yumeng anovelrelativenavigationcontrolstrategybasedonrelationspacemethodforautonomousundergroundarticulatedvehicles AT liliu anovelrelativenavigationcontrolstrategybasedonrelationspacemethodforautonomousundergroundarticulatedvehicles AT qinggu anovelrelativenavigationcontrolstrategybasedonrelationspacemethodforautonomousundergroundarticulatedvehicles AT fengqiandou novelrelativenavigationcontrolstrategybasedonrelationspacemethodforautonomousundergroundarticulatedvehicles AT yumeng novelrelativenavigationcontrolstrategybasedonrelationspacemethodforautonomousundergroundarticulatedvehicles AT liliu novelrelativenavigationcontrolstrategybasedonrelationspacemethodforautonomousundergroundarticulatedvehicles AT qinggu novelrelativenavigationcontrolstrategybasedonrelationspacemethodforautonomousundergroundarticulatedvehicles |