Path Planning and Attitude Control Techniques for Automatic Shield Tunneling

This paper proposed motion path planning and attitude control technologies for automatic shield driving, addressing the significant quality fluctuations and inherent safety risks associated with the current shortage of skilled shield machine operators in tunnel construction. A regression distance-based decision method and a motion path design approach for shield attitude correction were developed. These methods enable the presetting of targeted steering angles for each segmented advance in both horizontal and vertical directions. Additionally, control laws for shield attitude were established to quantitatively determine the displacement of the target thrust force point in two directions, ensuring precise steering adjustments. The proposed technologies were rigorously validated through its application in Wusongkou Yangtze River tunnel project, demonstrating their feasibility, controllability, and reliability.