Heading control model of a center-articulated micro-tunneling robot

摘要

This paper describes a modeling method for the heading control of a center-articulated micro-tunneling robot developed with a view to realising an autonomous navigation system. The method features a nonholonomic constraint model on the moving direction of the machine head to provide more explicit modeling of turning behavior. The effectiveness of the proposed model is demonstrated by experimental results obtained using an actual tunneling robot.