Trajectory Tracking of Open-pit Mining Trucks based on MPC and Pure Pursuit Control

Abstract

Regarding the trajectory tracking problem of mine trucks in intelligent mining environments, This paper presents a Integrated trajectory tracking approach based on Model Predictive Control (MPC) and Pure Pursuit control. This approach is primarily driven by the Model Predictive Control (MPC) controller, The lateral trajectory error is derived through the Pure Pursuit (PP) control algorithm, The vehicle steering angle control input is generated using a weighted hybrid control approach, To address the trajectory tracking challenge of open-pit mine trucks in dynamic and complex environments. Finally, through simulations using CarSim and Matlab/Simulink, the performance of the mine truck in tracking a dual-shift trajectory was evaluated. The results indicate that, compared to the standalone MPC controller, the integrated control method demonstrates a significant improvement in tracking accuracy.