A path tracking control algorithm for underwater mining vehicles

Abstract

In this paper, a path tracking control algorithm is formulated for the use of tracked underwater mining vehicles. The algorithm consists of two parts, the forward velocity control and the heading angle control. The control algorithm is designed based on kinematics, and it considers the track slips and the longitudinal and yaw dynamic models of the tracked vehicle including the soil-track interaction force model. The desired heading angle is obtained by the so-called "Line of Sight" method. The suggested algorithm is tested by numerical simulations using the TRACSIM software developed by MOERO/KORDI, Korea. After the control gains are tuned by a series of numerical simulations, the algorithm is verified on a scale vehicle on air on a soil bin test bed containing the cohesive soil of the Bentonite-water mixture.