Design Of Intelligent Driving System For Hot In-place Recycling Units Based On Multi-agent Formation

Hot in-place recycling of expressway asphalt pavement is a preventive asphalt pavement maintenance technology.This construction technology has the advantages of economic and environmental protection,convenient construction,little influence on traffic impact and so on.In recent years,it has been widely used in the expressway maintenance industry around the world.At present,it adopts manual driving,However,the site high temperature,noise and other harsh environment will harm the health of the construction workers,and the drivers will cause driving yaw and unstable vehicle distance control during long-term operation,which will cause the energy waste and affect the construction quality.Therefore,it is of great significance to realize unmanned operation of hot in-place recycling unit.According to the construction environment and construction technology of hot in-place recycling unit,this paper proposes an intelligent driving system for hot in-place recycling unit based on multi-agent formation,and taking the highway asphalt pavement hot in-place recycling unit of Shandong Road and Bridge Group Co.,Ltd.as the experimental platform,It has realized unmanned operation and automatic construction of hot in-place recycling unit formation.The main research contents are as follows:Firstly,the intelligent driving system for hot in-place recycling unit based on multiagent formation is designed.First of all,the differential GPS positioning base station is introduced.The differential GPS positioning base station provides accurate positioning information for the whole system.Secondly,a path acquisition device is designed,through which the path information collection and path curve fitting of construction lanes are realized.The unmanned driving controller of engineering vehicle is designed again.The unmanned driving of engineering vehicle is realized by the controller.In addition,a driverless remote control is designed to realize simple control of the vehicle through the remote control.Finally,the HMI(Human Machine Interface)interaction center is designed to realize stores path information,issues control instructions,the overall monitoring and control of the system.Second,the path acquisition and path curve fitting of the construction lane information of hot in-place recycling unit are realized.In the first place,coordinate transformation is carried out to the location information,and WGS84 geodetic coordinate is converted to Beijing 54 plane coordinate.Secondly,the positioning information is filtered by the 3σ criterion to further improve the positioning accuracy.Finally,the least square method and piecewise fitting were used to achieve vehicle path curve fitting,and the accuracy of path fitting curve was verified by MATLAB simulation.The idea of linear classifier is used to realize path switching,and the adaptability of fitting curve is enhanced.Thirdly,the unmanned and automatic construction of hot in-place recycling unit based on multi-agent formation is realized through leader-follower method.Firstly,the wireless communication protocol of the system is designed through the wireless communication technology to realize the wireless communication network between the agents.Secondly,in the multi-agent system,the lateral deviation PID trajectory tracking control of the leader agent,the longitudinal following fuzzy control of the formation of the follower agent and the acceleration feedforward control are designed,and the accuracy of the design controller is verified by MATLAB software simulation.Finally,the stability and accuracy of the system are verified by the field measurement,and the unmanned and automatic operation of hot in-place recycling unit formation is realized.