| Citation: | SONG E B，YAO Y P. Method of improving tracking precision of planning path for impact rollers[J]. Journal of Beijing University of Aeronautics and Astronautics，2023，49（1）：106-114 （in Chinese） doi: 10.13700/j.bh.1001-5965.2021.0495
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In recent years, the application of unmanned impact rollers in high embankment engineering of airport has become a new trend. However, large tracking errors often occur at the start and the end point of the headland, which affects the compaction effectiveness of the working area. In this paper, a path optimization method is proposed to improve the steering tracking performance. Firstly, the U-shaped turning path derived from generalized elementary curve is established based on two calculation methods, and the optimized path is selected near the original planning path considering minimum turning radius and the smoothness of the curvature of curve. Then, the Ω-shaped turning path is formed by bi-elementary curve, and the optimized path is selected with the same method as above. Finally, the model predictive control (MPC) simulator is established to simulate the trajectory tracking effect of various paths. The results showed that the tracking effect of the optimized path is better than the original path, indicating the effectiveness of the proposed path optimization method.
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