Motion trajectory control of underground intelligent scraper based on particle swarm optimization

This paper proposes a motion trajectory control method of underground intelligent scraper based on particle swarm optimization. The simulation model of whole system was established in simulink according to autonomous navigation bivariate PID control algorithm and scraper motion control model. The process of particle swarm optimization was designed based on MATLAB platform. The parameter optimization model of PID controller based on particle swarm optimization (PSO) algorithm is established. The parameters of PID controller are optimized, and the global position optimal solution is obtained. It obtained correlation curve of motion trajectory deviation through the experiment of motion trajectory of particle swarm optimization. The particle swarm optimization algorithm is proved to be very effective in controlling the trajectory of the intelligent scraper.

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