MPC Based Trajectory Tracking for An Automonous Deep-Sea Tracked Mining Vehicle

Authors

  • Hongyun Wu Changsha Institute of Mining Research, Changsha 410000, China
  • Yuheng Chen Key Laboratory of Advanced Design and Manufacturing for Vehicle Body, College of Mechanical and Vehicle Engineering, Hunan University, Changsha 410082, China https://orcid.org/0000-0002-9518-7570
  • Hongmao Qin Key Laboratory of Advanced Design and Manufacturing for Vehicle Body, College of Mechanical and Vehicle Engineering, Hunan University, Changsha 410082, China

DOI

https://doi.org/10.52810/TIOT.2021.100062

Keywords:

Deep-sea tracked mining vehicle, Trajectory tracking, Model predictive control, Kalman filter, Path planning

Abstract

Model predictive control (MPC) has been successfully used in trajectory tracking for autonomous vehicles based on certain kinematic model under low external disturbance conditions, but when there are model uncertainties and external disturbances, autonomous vehicles will fail to follow the pre-set trajectory. This paper studies trajectory tracking control based on MPC for an autonomous deep-sea tracked mining vehicle in polymetallic nodule mines with model uncertainty and external disturbances. A MPC algorithm is designed for trajectory tracking. To address model uncertainties caused by vehicle body subsidence and track slippage, a drive wheel speed correction controller is designed by experimental data fitting, and Kalman filtering (KF) and adaptive Kalman filtering (AKF) are introduced to improve tracking performance by rejecting external disturbances especially during curve tracking. To handle dead zones and obstacles during actual operation, an obstacle avoidance strategy is proposed that uses the tri-circular arc obstacle avoidance trajectory with an equal curvature for path re-planning. Finally, Simulink&Recurdyn co-simulations validate the performance of the proposed MPC controller through a comparison with nonlinear MPC(NMPC).

Author Biographies

Hongyun Wu, Changsha Institute of Mining Research, Changsha 410000, China

Hongyun Wu was born in Hubei, China in 1976. He is the director of the Institute of Marine Mining, Changsha Institute of Mining Research, PhD in mechanical engineering, and a senior engineer. He is mainly engaged in the research of resource exploitation technology in the national long-term development project "International Regional Resource Development and Research". For more than ten years, he has been engaged in deep sea resource development research, and has successively presided over or participated in more than ten projects as a technical backbone, such as presiding over the "key technology research of 4-wheel drive self-propelled mining vehicle adapting to 6,000-meter class thin and soft substrate mining vehicle", "seabed mineral collection and navigation and positioning system development". "He has written more than 20 scientific papers, including more than 10 EI-indexed ones. He has written more than 20 scientific research papers, of which more than 10 have been recorded by EI.

Yuheng Chen, Key Laboratory of Advanced Design and Manufacturing for Vehicle Body, College of Mechanical and Vehicle Engineering, Hunan University, Changsha 410082, China

Yuheng Chen, M.S, was born in Suzhou, Jiangsu, China in 1996. He is an assistant Researcher in the School of Mechanical and Transportation, Hunan University, assistant director of Key Laboratory of Advanced Design and Manufacturing for Vehicle Body, College of Mechanical and Vehicle Engineering, Hunan University.

Hongmao Qin, Key Laboratory of Advanced Design and Manufacturing for Vehicle Body, College of Mechanical and Vehicle Engineering, Hunan University, Changsha 410082, China

Hongmao Qin, Ph.D., is a research professorship in the School of Mechanical and Transportation, Hunan University, assistant director of Key Laboratory of Advanced Design and Manufacturing for Vehicle Body, College of Mechanical and Vehicle Engineering, Hunan University , and assistant director of Hunan Province Intelligent Transportation System Innovation Center. He is dedicated to the safety system architecture design of intelligent transportation system, specifically including the functional safety, information security and expected functional safety key technology research and development of intelligent driving system, intelligent dispatching system and intelligent interconnection system, and has carried out fruitful industrialization promotion work in the fields of intelligent mining system, intelligent marine system and intelligent express transportation system, and achieved good innovation progress. In recent years, he has published more than 30 academic papers, including 19 SCI/EI indexed papers, applied for/authorized 15 invention patents and 4 computer software copyrights; presided over/participated in more than 10 key projects such as National Natural Science Foundation of China, 863 Program, Science and Technology Support, etc., and undertook 4 national/industry/group standards, which have achieved good economic and social benefits.

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MPC Based Trajectory Tracking for An Automonous Deep-Sea Tracked Mining Vehicle

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Published

2021-08-23

How to Cite

Wu, H., Chen, Y., & Qin, H. (2021). MPC Based Trajectory Tracking for An Automonous Deep-Sea Tracked Mining Vehicle. ASP Transactions on Internet of Things, 1(2), 1–13. https://doi.org/10.52810/TIOT.2021.100062

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Regular Paper