Up to now there is no specification about the allowance of lateral breakthrough error for super long tunnel from 20 km to 50 km.On the basis of the design of GPS networks located outside and inside tunnel traverse net...Up to now there is no specification about the allowance of lateral breakthrough error for super long tunnel from 20 km to 50 km.On the basis of the design of GPS networks located outside and inside tunnel traverse network,we propose a method for calculating the influence value caused by control surveying errors.Through a lot of simulative calculations and combination with piercing practice of super tunnels in Wan Jiazai Project,Shanxi province,we present an allowance table of lateral breakthrough error for super long tunnels from 20 km to 50 km.展开更多
Autonomous tracking control is one of the fundamental challenges in the field of robotic autonomous navigation,especially for future intelligent robots.In this paper,an improved pure pursuit control method is proposed...Autonomous tracking control is one of the fundamental challenges in the field of robotic autonomous navigation,especially for future intelligent robots.In this paper,an improved pure pursuit control method is proposed for the path tracking control problem of a four-wheel independent steering robot.Based on the analysis of the four-wheel independent steering model,the kinematic model and the steering geometry model of the robot are established.Then the path tracking control is realized by considering the correlation between the look-ahead distance and the velocity,as well as the lateral error between the robot and the reference path.The experimental results demonstrate that the improved pure pursuit control method has the advantages of small steady-state error,fast response and strong robustness,which can effectively improve the accuracy of path tracking.展开更多
文摘Up to now there is no specification about the allowance of lateral breakthrough error for super long tunnel from 20 km to 50 km.On the basis of the design of GPS networks located outside and inside tunnel traverse network,we propose a method for calculating the influence value caused by control surveying errors.Through a lot of simulative calculations and combination with piercing practice of super tunnels in Wan Jiazai Project,Shanxi province,we present an allowance table of lateral breakthrough error for super long tunnels from 20 km to 50 km.
基金Supported by the National Natural Science Foundation of China(61103157)。
文摘Autonomous tracking control is one of the fundamental challenges in the field of robotic autonomous navigation,especially for future intelligent robots.In this paper,an improved pure pursuit control method is proposed for the path tracking control problem of a four-wheel independent steering robot.Based on the analysis of the four-wheel independent steering model,the kinematic model and the steering geometry model of the robot are established.Then the path tracking control is realized by considering the correlation between the look-ahead distance and the velocity,as well as the lateral error between the robot and the reference path.The experimental results demonstrate that the improved pure pursuit control method has the advantages of small steady-state error,fast response and strong robustness,which can effectively improve the accuracy of path tracking.
