Stability and trajectory tracking of four- wheel steering trackless auxiliary transport robot via PID control.

IF 3 Q2 ROBOTICS
Frontiers in Robotics and AI Pub Date : 2025-06-25 eCollection Date: 2025-01-01 DOI:10.3389/frobt.2025.1617376
Mingrui Hao, Yueqi Bi, Jie Ren, Lisen Ma, Jiaran Li, Sihai Zhao, Miao Wu
{"title":"Stability and trajectory tracking of four- wheel steering trackless auxiliary transport robot via PID control.","authors":"Mingrui Hao, Yueqi Bi, Jie Ren, Lisen Ma, Jiaran Li, Sihai Zhao, Miao Wu","doi":"10.3389/frobt.2025.1617376","DOIUrl":null,"url":null,"abstract":"<p><p>In the complex working environment of underground coal mines, narrow road conditions and deviation in the driving path of autonomous trackless auxiliary transport robots can easily lead to collisions with walls or obstacles. This issue can be effectively solved by a four-wheel steering system, as it can reduce the turning radius of the robot at low speeds and improve its maneuverability at high speeds. Thus, a linear two-degree-of-freedom dynamics model of trackless auxiliary transport robot is established and the steady-state lateral critical speed of 16.6 km/h is obtained. Then a four wheel steering PID trajectory tracking strategy were constructed. Experiments on different steering modes at low and high speeds, which include stepped steering angles and circular path tracking, for the front-wheel steering mode and four-wheel steering mode of the robot are conducted under loaded conditions. The experimental results show that in the low-speed 10 km/h step steering angle input test, compared with the front-wheel steering mode, the turning radius of the robot is reduced by 32.2%, which ensures it easier to pass through narrow tunnels. Under the conditions of a 40 km/h high-speed step steering angle input test, the handling stability has been improved. The results of the circular trajectory tracking test show that at low speeds (10 km/h), the average radius error of the robot is 0.3%, while the radius error of the front-wheel steering robot reaches 2.12%. At high speeds (40 km/h), the average radius error is 2.4%, while the radius error of front-wheel steering mode is 8.74%. The robot maintains good track tracking ability, reducing the risk of collision with tunnel walls and improving robot operation safety.</p>","PeriodicalId":47597,"journal":{"name":"Frontiers in Robotics and AI","volume":"12 ","pages":"1617376"},"PeriodicalIF":3.0000,"publicationDate":"2025-06-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12237676/pdf/","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Frontiers in Robotics and AI","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.3389/frobt.2025.1617376","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"2025/1/1 0:00:00","PubModel":"eCollection","JCR":"Q2","JCRName":"ROBOTICS","Score":null,"Total":0}
引用次数: 0

Abstract

In the complex working environment of underground coal mines, narrow road conditions and deviation in the driving path of autonomous trackless auxiliary transport robots can easily lead to collisions with walls or obstacles. This issue can be effectively solved by a four-wheel steering system, as it can reduce the turning radius of the robot at low speeds and improve its maneuverability at high speeds. Thus, a linear two-degree-of-freedom dynamics model of trackless auxiliary transport robot is established and the steady-state lateral critical speed of 16.6 km/h is obtained. Then a four wheel steering PID trajectory tracking strategy were constructed. Experiments on different steering modes at low and high speeds, which include stepped steering angles and circular path tracking, for the front-wheel steering mode and four-wheel steering mode of the robot are conducted under loaded conditions. The experimental results show that in the low-speed 10 km/h step steering angle input test, compared with the front-wheel steering mode, the turning radius of the robot is reduced by 32.2%, which ensures it easier to pass through narrow tunnels. Under the conditions of a 40 km/h high-speed step steering angle input test, the handling stability has been improved. The results of the circular trajectory tracking test show that at low speeds (10 km/h), the average radius error of the robot is 0.3%, while the radius error of the front-wheel steering robot reaches 2.12%. At high speeds (40 km/h), the average radius error is 2.4%, while the radius error of front-wheel steering mode is 8.74%. The robot maintains good track tracking ability, reducing the risk of collision with tunnel walls and improving robot operation safety.

Abstract Image

Abstract Image

Abstract Image

基于PID控制的四轮转向无轨辅助运输机器人的稳定性与轨迹跟踪。
在煤矿井下复杂的工作环境中,自主无轨辅助运输机器人的道路条件狭窄,行驶路径偏离,容易导致与墙壁或障碍物发生碰撞。四轮转向系统可以有效地解决这一问题,因为它可以减少机器人在低速时的转弯半径,提高机器人在高速时的机动性。由此,建立了无轨辅助运输机器人的线性二自由度动力学模型,得到其稳态横向临界速度为16.6 km/h。然后构造了四轮转向PID轨迹跟踪策略。对机器人的前轮转向模式和四轮转向模式进行了加载条件下的低速和高速转向模式实验,包括阶梯转向角度和圆路径跟踪。实验结果表明,在低速10 km/h阶跃转向角输入试验中,与前轮转向方式相比,机器人的转弯半径减小了32.2%,保证了其更容易通过狭窄的隧道。在40 km/h高速阶跃转向角输入试验条件下,提高了操纵稳定性。圆形轨迹跟踪试验结果表明,在低速(10 km/h)时,机器人的平均半径误差为0.3%,而前轮转向机器人的半径误差达到2.12%。在高速(40 km/h)下,平均半径误差为2.4%,而前轮转向模式下的半径误差为8.74%。机器人保持良好的轨迹跟踪能力,降低了与隧道壁碰撞的风险,提高了机器人的操作安全性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
求助全文
约1分钟内获得全文 求助全文
来源期刊
CiteScore
6.50
自引率
5.90%
发文量
355
审稿时长
14 weeks
期刊介绍: Frontiers in Robotics and AI publishes rigorously peer-reviewed research covering all theory and applications of robotics, technology, and artificial intelligence, from biomedical to space robotics.
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
确定
请完成安全验证×
copy
已复制链接
快去分享给好友吧!
我知道了
右上角分享
点击右上角分享
0
联系我们:info@booksci.cn Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号:604180095
Book学术官方微信