Dual-modality fuzzy control strategy of walking of unattended roadheader

In order to solve problem that walking trajectory of unattended roadheader deviated from center line of roadway, the motion model of roadheader was established based on analysis of excavation construction procedure, and the fuzzy control strategy of walking of unattended roadheader based on dual-modality structure was proposed to realize directional adjustment and forward control. Relationship between steering angle and driving wheel speed and establishment of fuzzy control model were mainly focused. The experiment results indicate that the control strategy can satisfy requirements of excavation construction procedure of roadheader.