Research on the path optimization of unmanned rolling impaction for high embankment of airport

Abstract

Quality control of embankment compaction has an important influence on the durability and stability of the high embankment airport. Now, the unmanned compaction quality control mainly depends on the path tracking effect of the unmanned roller. The path tracking error of the roller increased obviously in the field test. The error from the perspective of the discontinuity of the planning path curvature was analyzed by a simulation model built based on the pure pursuit algorithm. Then the arc and elliptical arc were selected to simplify the planning path, and the results show that the optimized arc path made the tracking error reduced effectively. In order to further reduce the error, the inflection point of the straight line and the arc was smoothed by the method of rounding and cubic B-spline curve fitting, respectively. The simulation results show that the rounding process and the B-spline curve fitting have significant effects on improving the path tracking of the vehicle.Keywords: unmanned roller, curvature continuity, pure pursuit method THE FIELD TEST OF UNMANNED ROLLER COMPACTOR IN XUZHOUThe range of the test site, Xuzhou Construction Machinery Group comprehensive test site, is 50×50 m 2 . The information of the position and heading angle was provided by Beidou system installed on the front of the vibrating wheel of the roller. The industrial computer obtained the path information from the cloud platform.

Study on load transfer mechanisms and impact on adjacent railway subgrade within loess regions

“…The other earth pressure values are lower than (γ*K 0 ) min . The compactness of granular materials with a certain thickness increases when compacted by construction machinery [ 18 , 19 ]. Therefore, the lateral earth pressure of the upper fill increases.…”

A Review on Roller Compaction Quality Control and Assurance Methods for Earthwork in Five Application Scenarios

“…To solve the problems caused by manual driving, some researchers have attempted to utilize automatic control technology and other key technologies (e.g., path planning) for rolling operations, and successively proposed various types of automatic rolling compaction methods [ 38 , 206 , 207 , 208 , 209 , 210 , 211 , 212 , 213 , 214 , 215 ], so as to further eliminate the influence of human factors on QC/QA. In the 1980s, Japan first applied road rolling machinery equipped with automatic control devices and rolling driving (AR) methods to asphalt pavement construction [ 206 ].…”

“…To move towards high-quality road construction, autonomous tandem rollers for asphalt compaction optimization were evaluated [ 210 ]. In the field of airport engineering, a high-embankment monitoring system (HEMS) for compaction of high embankment in airport engineering was studied, which mainly includes optimal path algorithm and unmanned vehicle control technology [ 7 , 208 , 209 ]. Zhang et al [ 17 , 38 , 212 ] carried out systematic research on the accurate control of compaction parameters, and the developed unmanned rolling compaction (URC) system was successfully applied to the construction of earth–rock dams (see Figure 9 ).…”