Authors: Y.V. Popinako, M.V. Efremenkova, M.S. Nikitenko, D.Yu. Khudonogov

Title of the article: An opencast automobile road model parameters determining for testing and tunning automated robotic chassis

Year: 2023, Issue: 6, Pages: 41-49

Branch of knowledge: 2.8.8. Geotechnology, Mining machines (engineering)

Index UDK: 7.021.23 : 625.7 + 62-529

DOI: 10.26730/1816-4528-2023-6-41-49

Abstract: The article discusses the main approaches to the autonomous vehicles control in the mining industry. An alternative approach to autonomous vehicle control based on machine vision technology using light markers is described. A method of determining the parameters of the prototyped road model is proposed depending on the linear and angular parameters of the chassis model used based on the regulatory documentation analysis. The main parameters of a large-scale opencast automobile road model for debugging and testing an autonomous robotic chassis are substantiated and determined. The most significant parameters to achieve the study objectives are determined. A description of the developed road based on the calculated parameters is presented including parts of road such as linear rise, controllable plateau, linear descent, linear ride area, turn start area, turn area, crossover rise, crossover incline, crossover descent. The length of road segments and their number are determined. The calculation method allows to determine the requirements for the developed road models which can be used in prototyping vehicle model control systems to conduct testing and debugging.

Key words: autonomous vehicle robotic chassis control system opencast automobile road parameters machine vision debugging testing modeling

Receiving date: 25.11.2023

Approval date: 30.11.2023

Publication date: 21.12.2023

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