Modeling and Simulation of Unmanned Driving System for Load Haul Dump Vehicles in Underground Mines

Yuanjian Jiang, Pingan Peng (), Liguan Wang, Jiaheng Wang, Yongchun Liu and Jiaxi Wu
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Yuanjian Jiang: School of Resources and Safety Engineering, Central South University, Changsha 410083, China
Pingan Peng: School of Resources and Safety Engineering, Central South University, Changsha 410083, China
Liguan Wang: School of Resources and Safety Engineering, Central South University, Changsha 410083, China
Jiaheng Wang: School of Resources and Safety Engineering, Central South University, Changsha 410083, China
Yongchun Liu: School of Resources and Safety Engineering, Central South University, Changsha 410083, China
Jiaxi Wu: School of Resources and Safety Engineering, Central South University, Changsha 410083, China

Sustainability, 2022, vol. 14, issue 22, 1-18

Abstract: This paper proposes the modeling and simulation of the unmanned driving system for underground load haul dump vehicles based on Gazebo/Ros. Firstly, the kinematics model of the load haul dump vehicle is derived. Then, the model of each part of the load haul dump vehicle is established based on SolidWorks and the model of the load haul dump vehicle is established by connecting the parts through a unified robot description format (URDF) file. Finally, the laneway model is established by using alpha shape to realize the modeling of the operating environment of the load haul dump vehicle. The speed, angular speed, bucket lifting, and bucket flipping of the load haul dump vehicle are controlled using PID. The experimental results show that: The control errors of the speed and angular speed of the load haul dump vehicle are 0.283 m/s and 0.010 rad/s, respectively. The control error of the lifting bucket is 0.025 m and that of the flipping bucket is 0.015 m. The angular velocity control error of the simulation system relative to the actual system is 0.330 and 0.106 m/s, respectively. The error between the SLAM of the simulation system and the actual system and the measured value is 0.917 and 3.44 m, respectively. The control performance of the load haul dump vehicle in the simulation system is good. Therefore, automatic driving algorithms can be studied and tested in this simulation platform.

Keywords: load haul dump vehicles; simulation platform; Gazebo/Ros; unmanned driving; underground mine (search for similar items in EconPapers)
JEL-codes: O13 Q Q0 Q2 Q3 Q5 Q56 (search for similar items in EconPapers)
Date: 2022
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