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Minimum time control for the moving process during material collection of Boom-Type Roadheaders in complex terrains
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DOI：10.1002/asjc.70153.png)
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Abstract
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This paper proposes a minimum time control strategy for the moving process in complex roadways to improve the travel efficiency of roadheaders. First, a mechanical characteristics model of the underground roadway surface and crawler is established, and the path of the moving process is modeled. Then, an adaptive non-dominated sorting whale optimization algorithm is employed to obtain the optimal path for the roadheader moving process. Finally, the optimal control strategy is derived by solving the Hamilton-Jacobi-Bellman equation (via physics-informed neural networks) under dynamic programming principles. Experimental results demonstrate that the proposed minimum time control for the moving process in complex roadways can achieve rapid movement in different underground terrains.
Keywords:
adaptive non-dominated sorting whale optimization algorithm
dynamic programming
moving process
physics-informed neural network
roadheaders
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