Evaluation of safety parameters of the motor grader during maneuvering in the street and road network

Deryushev, V. V.; Kosenko, E. E.; Kosenko, V. V.

doi:10.23947/2541-9129-2020-3-33-38

Cited by 2 publications

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“…Parameters of the control method (look-ahead distance L0). The obtained dependences have been presented in the form of a graphical complex of the surfaces for different base lengths and different values of the motor grader velocity (figures 8,9,10,11,12). Based on the obtained dependences, we can conclude that the grader speed significantly affects the efficiency criterion.…”

Section: Figure 5 -The Influence Of the Look-ahead Distance L0 On The...mentioning

confidence: 99%

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Pure pursuit method use to control unmanned motor grader

Sukharev

2022

Vestn. SibADI

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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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Section: Figure 5 -The Influence Of the Look-ahead Distance L0 On The...mentioning

confidence: 99%

“…Driving an unmanned grader differs from driving an unmanned vehicle mainly by purpose [9,10,11]. The main purpose of the grader movement is the movement of the working body in accordance with the project of the earthen structure.…”

Section: Introductionmentioning

confidence: 99%

Pure pursuit method use to control unmanned motor grader

Sukharev

2022

Vestn. SibADI

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Methods of controlling the course for an self-driving grader

Sukharev

2022

Vestn. SibADI

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Introduction. The widespread introduction of unmanned technologies quickly captures various industries and economies. Unmanned taxis are already moving through the streets of cities, including in our country. The introduction of unmanned technologies in the construction industry, namely in construction machines is a promising direction that will develop quite rapidly in the next few years. The construction machine closest in terms of control algorithm to an unmanned vehicle is an auto grader. One of the first stages of creating an unmanned grader is the construction of its trajectory. This paper presents methods for controlling the course of an unmanned vehicle, which can be adapted to control the grader.Materials and methods. Theoretical studies were carried out on a mathematical model of the working process of the grader, developed using the methodology of system analysis and presented by differential equations of the second order.Results. An efficiency criterion is proposed by which management methods can be compared. To evaluate the effectiveness of the presented methods, theoretical studies of the mathematical model of the working process of the grader were carried out according to the proposed efficiency criterion. The effectiveness of the copier control method for various values of the base length, base coefficient and grader speed has been confirmed. Conclusion. The proposed control methods can be used to create promising autonomous traffic control systems for graders and other road construction vehicles.

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Evaluation of safety parameters of the motor grader during maneuvering in the street and road network

Abstract: main concept formulation, goals and objectives of the research; E. E. Kosenkocalculations, preparation of the text, conclusions; V. V. Kosenkoresearch results analysis, text refinement, correction of the conclusions.

Cited by 2 publications

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Pure pursuit method use to control unmanned motor grader

Pure pursuit method use to control unmanned motor grader

Methods of controlling the course for an self-driving grader

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