sibadiНаучный рецензируемый журнал "Вестник СибАДИ"The Russian Automobile and Highway Industry Journal2071-72962658-5626The Siberian State Automobile and Highway University10.26518/2071-7296-2022-19-2-156-169sibadi-1430Research ArticleТРАНСПОРТНОЕ, ГОРНОЕ И СТРОИТЕЛЬНОЕ МАШИНОСТРОЕНИЕTRANSPORT, MINING AND BUILDING MACHINERY ENGINEERINGПрименение метода «чистое преследование» (Pure Pursuit) для управления беспилотным автогрейдеромPure pursuit method use to control unmanned motor graderhttps://orcid.org/0000-0002-2627-8110СухаревР. Ю.SukharevR. Yu.

Сухарев Роман Юрьевич – канд. техн. наук, доц, кафедры «Автоматизация производственных процессов и электротехника».

г. Омск

Roman Yu. Sukharev – Cand. of Sci., Associate Professor

Omsk

suharev_ry@mail.ruСибирский государственный автомобильно-дорожный университетРоссияSiberian State Automobile and Highway University (SibADI)Russian Federation202219052022192156169Copyright © Сухарев Р.Ю., 20222022Сухарев Р.Ю.Sukharev R.Y.This work is licensed under a Creative Commons Attribution 4.0 License.https://vestnik.sibadi.org/jour/article/view/1430

Введение. Актуальная задача создания перспективных систем беспилотного управления дорожно-строительных машин может быть решена путем проведения теоретических исследований на математических моделях.Материалы и методы. Одна из важных проблем при создании системы управления движением беспилотной машины – это составление алгоритма следования заданной траектории. Наиболее известным методом следования траектории является метод «чистое преследование», успешно применяемый для управления движением мобильных роботов.В связи с этим была сформулирована цель исследования – адаптировать метод «чистое преследование» для управления беспилотным автогрейдером. Для достижения поставленной в работе цели были решены следующие задачи: разработана математическая модель движения автогрейдера с передними управляемыми колесами, разработана математическая модель системы управления движением автогрейдера, предложен интегральный критерий для оценки эффективности работы системы управления движением беспилотного автогрейдера, проведены теоретические исследования математической модели и получены зависимости интегрального критерия от конструктивных и эксплуатационных параметров автогрейдера и от параметра метода управления (дальность видимости), найдены оптимальные значения дальности видимости при различных значениях длины базы, коэффициента базы и скорости машины по предложенному критерию эффективности.Результаты. В результате аппроксимации полученных оптимальных значений метод «чистое преследование» был модифицирован для управления беспилотным автогрейдером с учетом его конструктивных особенностей и скорости передвижения.Полученные результаты могут быть использованы при создании опытных образцов систем беспилотного управления дорожно-строительных машин.

Introduction. A relevant objective of implementing the advanced systems of self-driving road construction vehicles can be accomplished by mathematical modelling. One of the important issues when creating a motion control system for a self-driving vehicle is to develop a trajectory following algorithm. The most well-known method of following the trajectory is a pure pursuit method, which is successfully used to control the movement of mobile robots.Materials and methods. Hence, the research objective has been defined and is to adapt the pure pursuit method to control an autonomous grader. To achieve the research objective, the task of a mathematical model of the motor grader movement with front steering wheels has been developed, and a mathematical model of the motor grader motion control system has been compiled. Besides, we propose an integral criterion to evaluate the efficiency of the motion control system of a unmanned grader. Some theoretical studies of the mathematical model have been carried out and the dependencies of the integral criterion on the design and operational parameters of the grader, as well as on the parameter of the control method (visibility range) have been obtained. Moreover, the optimal values of the visibility range for various values of the base length, base coefficient and machine speed have been defined according to the proposed efficiency criterion.Results. As a result of approximating the obtained optimal values, the pure pursuit method has been modified to control a self-driving motor grader, taking into account its design features and travel speed. The results obtained can be used to create the prototypes of unmanned control systems for road construction vehicles.

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The authors declare that there are no conflicts of interest present.