Research on the path optimization of unmanned rolling impaction for high embankment of airport

Abstract

Quality control of embankment compaction has an important influence on the durability and stability of the high embankment airport. Now, the unmanned compaction quality control mainly depends on the path tracking effect of the unmanned roller. The path tracking error of the roller increased obviously in the field test. The error from the perspective of the discontinuity of the planning path curvature was analyzed by a simulation model built based on the pure pursuit algorithm. Then the arc and elliptical arc were selected to simplify the planning path, and the results show that the optimized arc path made the tracking error reduced effectively. In order to further reduce the error, the inflection point of the straight line and the arc was smoothed by the method of rounding and cubic B-spline curve fitting, respectively. The simulation results show that the rounding process and the B-spline curve fitting have significant effects on improving the path tracking of the vehicle.