To achieve the goal of driver-less underground mining truck, a fuzzy hyperbolic tangent model is established for path tracking on\nan underground articulated mining truck. Firstly, the sample data of parameters are collected by the driver controlling articulated\nvehicle at a speed of 3 m/s, including both the lateral position deviation and the variation of heading angle deviation. Then, according\nto the improved adaptive BP neural network model and deriving formula of mediation rate of error estimator by the method of\nCauchy robust, the weights are identified. Finally,
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