A speed control and trajectory tracking system was designed for the newly developed caterpillar-type mining vehicle. Due to the speed difference between the left and right tracks with the same output value set in the system,the speed of caterpillar was adjusted by the fuzzy control. According to the principle of long baseline acoustic positioning system,a laboratory pool location system was designed to achieve precise location and trajectory tracking of the mining vehicle during the underwater test. The field test results showed that the velocity measurement was accurate and stable, and the sp...
