Research On Path Following Control Algorithm Of Deep-sea Mining Vehicle’s Seabed Traveling Based On Fuzzy PID

In the deep-sea mining operation,the mining robot is easy to slip because of the soft and thin seabed ooze,as well as the interference of seabed topography and ocean current,etc.,so the mining robot is easy to deviate from the predetermined path.Aiming at the problem of path following in seabed operation of mining robot,this paper designs and analyzes the path following control system of deep sea mining robot.First deep-sea mining robot dynamics and kinematics model is established,and based on the model of deep-sea mining robot slip situation has carried on the simple analysis,then adopt the Pure Pursuit,Stanley method to design the deep-sea mining robot path tracking algorithm,and puts forward the arctangent function optimization of deep-sea mining vehicle path tracking algorithm,it calculates the target heading angle of the mining robot through the relative position of the mining robot and the current target point,Then,based on the kinematics model,a fuzzy PID heading angle controller is established to control the rotational speed difference on both sides of the mining robot and then to control the mining robot’s heading so that the robot can walk along the target path.At the same time,the relation between the angular acceleration of the driving wheel and the slipping rate of the mining robot is numerically analyzed based on the dynamic model to prevent the excessive slip.At last,Matlab/Simulink is used to build the system model for the simulation analysis of the system.The simulation results show that the control algorithm can well complete the mining robot’s path following task.