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Journal of Control Science and Engineering
Volume 2016 (2016), Article ID 2352805, 12 pages
Research Article

A Novel Relative Navigation Control Strategy Based on Relation Space Method for Autonomous Underground Articulated Vehicles

University of Science and Technology Beijing, Beijing, China

Received 4 May 2016; Revised 7 August 2016; Accepted 6 September 2016

Academic Editor: Roberto Sabatini

Copyright © 2016 Fengqian Dou et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper proposes a novel relative navigation control strategy based on the relation space method (RSM) for articulated underground trackless vehicles. In the RSM, a self-organizing, competitive neural network is used to identify the space around the vehicle, and the spatial geometric relationships of the identified space are used to determine the vehicle’s optimal driving direction. For driving control, the trajectories of the articulated vehicles are analyzed, and data-based steering and speed control modules are developed to reduce modeling complexity. Simulation shows that the proposed RSM can choose the correct directions for articulated vehicles in different tunnels. The effectiveness and feasibility of the resulting novel relative navigation control strategy are validated through experiments.