Trajectory tracking control of trackless rubber-tired vehicles in underground mines under multi-sensor time delays

Trajectory tracking control of trackless rubber-tired vehicles in underground mines under multi-sensor time delays

The underground mine unmanned driving system typically uses SLAM algorithms based on vision and Light Detection and Ranging (LiDAR) sensors for scene reconstruction and vehicle positioning. However, in underground environments, the dust density is high, and lighting conditions are poor, making compl...

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Bibliographic Details
Main Authors: TAN Zhen, CUI Xiang, GAO Yongjun, JIA Baorui, GAO Liang, CAO Yuxiang, DU Yibo
Format: Article
Language:zho
Published: Editorial Department of Industry and Mine Automation 2025-04-01
Series:Gong-kuang zidonghua
Subjects:
underground mine unmanned driving
underground trackless rubber-tired vehicle
trajectory tracking control
time delay
lyapunov functional
state augmented modeling
positioning standard deviation
Online Access:http://www.gkzdh.cn/article/doi/10.13272/j.issn.1671-251x.2025030045
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http://www.gkzdh.cn/article/doi/10.13272/j.issn.1671-251x.2025030045

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