Trajectory Planning for the Cantilevered Road-Header in Path Correction Under the Shaft
For path correction of the road-header under the shaft, trajectory planning for the road-header is carried out following different considerations amongst which excavation space is highly concerned. In addition, for the benefit of the mechanical system and also for cutting slipping of the tracks on the road-header, the variation of the required rotation speeds of the two driving wheels are also concerned. Three typical planned trajectories are proposed and compared. Evaluation over these trajectories is also carried out using a simple path tracking algorithm. The calculated results explain that trajectory planning for the road-header is necessary since different trajectories correspond to different scenarios about undesirable excavation space, slipping level and probably power consumption.
KeywordsRoad-header Trajectory planning Path tracking
Special thanks to the National Natural Science Foundation of China, for the financial supports to this work through projects No. 61803374 and No. 51874308.
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