A Trajectory Tracking Method for Deep-Sea Mining Vehicle

This paper innovatively proposes an MPC based trajectory tracking method that considers slip constraints (MPC-SC) for deep-sea mining vehicles during operation. Analyze the force on the mining vehicle and establish a dynamic model to calculate the slip rate online. Based on the relationship between traction force and slip rate, a reasonable slip rate constraint interval can be determined. A trajectory tracking method based on model predictive control is proposed to address the problem of large trajectory deviation in the trajectory tracking process of mining vehicles. The optimal predictive control is applied to the speed of the driving wheels on both sides of the mining vehicle at each time step. At the same time, a new slip rate control strategy is proposed to reasonably constrain the slip rate of the tracks on both sides to improve the driving performance of the mining vehicle. A reasonable slip rate threshold is set. When exceeding the threshold, the slip rate is constrained by reducing the speed of the driving wheels on both sides. In order to ensure smooth movement of the mining vehicle, a certain constraint control is applied to the speed difference between the driving wheels on both sides. Through simulation experiments, it has been verified that the proposed trajectory tracking method has a small trajectory tracking error, and the proposed slip control strategy can effectively reduce the slip rate of the tracks on both sides.