Trajectory Planning for the Cantilevered Road-Header in Path Correction Under the Shaft

  • Yuanyuan QuEmail author
  • Xiaodong Ji
  • Fuyan Lv
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 1084)


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.


Road-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.


  1. 1.
    Yang, Y., Hu, Y.L., Yang, J., et al.: Vibration signal test and analysis of horizontal axial hard rock road-header. Measur. Control Technol. 34(10), 58–60 (2015)Google Scholar
  2. 2.
    Zhang, M., et al.: Research on roadheader auto rectification in limited roadway space based on regional grid. Chin. J. Sci. Instrum. 39(3), 62–70 (2018)Google Scholar
  3. 3.
    Grand, C., et al.: Stability and traction optimization of a reconfigurable wheel-legged robot. Int. J. Robot. Res. 23, 1041–1058 (2004)CrossRefGoogle Scholar
  4. 4.
    Chen, G., Jin, B., Chen, Y.: Accurate position and posture control of a redundant hexapod robot. Arab. J. Sci. Eng. 42(5), 2031–2042 (2017)CrossRefGoogle Scholar
  5. 5.
    Qi, R., Zhou, W., Liu, J., et al.: Obstacle avoidance trajectory planning for gaussian motion of robot based on probability theory. J. Mech. Eng. 49(6), 89–95 (2016)Google Scholar
  6. 6.
    Fu, S.C., Li, Y., Zhang, M., et al.: Ultra-wideband pose detection system for boom-type road-header based on Caffery transform and Taylor series expansion. Measur. Sci. Technol. 29, 015101 (2018)CrossRefGoogle Scholar
  7. 7.
    Han, Q., Liu, S.: Slip control of deep sea tracked miner based on dynamic analysis. J. Central South Univ. (Sci. Technol.) 8, 3166–3172 (2013)Google Scholar
  8. 8.
    Li, L., Zou, X.: Seafloor robots control on tracking automatically planning mining paths. Chin. J. Mech. Eng. 43(1), 152–157 (2007)CrossRefGoogle Scholar

Copyright information

© Springer Nature Switzerland AG 2020

Authors and Affiliations

  1. 1.China University of Mining and Technology (Beijing)BeijingChina
  2. 2.Shandong University of Science and TechnologyQingdaoChina

Personalised recommendations