A Research On Obstacle Avoidance Strategy Of The Split Heavy Transport Vehiche

This paper mainly studies the obstacle avoidance strategy of the WC80(Y) splittransport vehicle in the coal mine tunnel,which is developed by Yanshan University andJiangsu Tianming mechanical group,considering the characteristics of coal mineenvironment. The environment of coal mine roadway is very complex, but the degree ofautomation of split transport vehicle is low. It requires that the driver has a higher level ofoperating and maintains focus at all times, or maybe cause collision. Therefore, it isnecessary to obstacle the avoidance strategy of the split transport vehicle, which canimprove the level of automation and safety.First of all, it is necessary to select appropriate evading bonds sensors and navigationtechnology to bulid the sensory perceptual system which is used in the coal mine tunneland could provide the information of environment, obstacles and its pose.Then, we presents a obstacle avoidance strategy of the split transport vehicle in thecoal mine tunnel which the first vehicle plans the reference path of obstacle avoidance andthe follow vehicle tracks the reference path,after study the Duplex Motion PlanningStrategy and the Backstepping method. We use the Duplex Motion Planning Strategy toplan the the reference path of obstacle avoidance and the Backstepping method to makethe follow vehicle to track the reference path. After that, we proved the scheme be feasibleor not through Matlab simulation.Then, according to the obstacle avoidance strategy established, we use high-speeddigital on-off valves in the control system of the steering hydraulic. It can directly connectproportional directional spool valve to the controller and then it is proved to be right orwrong through the theory analysis and simulation.Finally，in order to further validating the scheme be feasible or not,we do theexperiment of obstacle avoidance based on the split type experimental car.Until thetechnology is mature, it will be ported to the split transport vehicle.This paper is based on the intelligent control of split transport vehicle. The researchachievements are helpfull to improve the level of automation,reduce the difficulty of theoperation,reduce the labor intensity,improve driving safety of split transport vehicle. At the same time the research results also have some referential significance to EMU-splittransport vehicle.