# PDDL Task Planning for Tunnel Spraying Based on a Multivariate Coating Accumulation Model
## 3 Experiments and Results
### Experiments
#### 3.2.2 Filling Layer Spraying Experiment  
After the patching of the tunnel, the spraying area is reclassified into layers. At this point, the spraying area only consists of the filling layer and the sweeping layer. A grid of stopping points is planned for the filling layer, as shown in Figure 22. The spray gun action sequence for the filling layer is then generated using the PDDL, as shown in Figure 23. Based on the filling action sequence, the filling layer spraying experiment was conducted, as shown in Figure 24. The contour map of the over-ex excavation and under-ex excavation values after completing the filling layer spraying is shown in Figure 25. At this point, the maximum over-ex excavation value is approximately 10 cm.  
Figure 21: Contour map of over-ex excavation and under-ex excavation after pit filling.  
Figure 20: Pit-filling layer spraying.  
Figure 22: Grid stance point planning.  
0.0010000000(sparse2 robot wp1)(35.30000000) 624.00100000(move2 robot wp16 w17)(4.90000000) 35.30100000(move2 robot wp2v2)(4.20000000) 628.90100000(wgr2v robot wp17)(22.3000000) 39.50100000(spz)2 robot wp2v3)(33.60000000) 651.20100000(move2 robot wp17 w18)(5.2000000) 73.10100000(move2 robot wp2w3)(4.20000000) 656.20100000(spz)2 robot wp18g 36.10000000) 77.30100000(spz)2 robot wp3)(38.10000000) 692.30100000(move2 robot wp18 w19)(5.20000000) 115.40100000(move2 robot wp3 up4)(4.20000000) 697.50100000(spz)2 robot wp19(38.70000000) 119.60100000(spz)2 robot wp4)(35.60000000) 702.70100000(move2 robot wp19 w20)(5.2000000) 155.20100000(move2 robot wp4 up5)(4.20000000) 707.90100000(wgr2v robot wp20w3 33.0000000) 159.40100000(spz)2 robot wp5(37.90000000) 741.40100000(move2 robot wp20 wp21)(5.20000000) 197.30100000(move2 robot wp5 up6)(4.20000000) 746.60100000(spz)2 robot wp21)(31.7000000) 201.6010000(spz)2 robot wp6(38.2000000) 778.30100000(move2 robot wp21 w22)(5.2000000) 239.80100000(move2 robot wp7)(40.2000000) 783.50100000(wgr2v)2 robot wp22v3)(35.30000000) 242.1010000(spz)2 robot wp7)(34.60000000) 818.8010000(move2 robot wp22 w23)(5.20000000) 276.70010000(move2 robot wp7 w8)(4.20000000) 824.0010000(wgr2v)2 robot wp23)(35.30000000) 280.9010000(spz)2 robot wp8(3)33.80000000) 859.30100000(move2 robot wp23 wp24)(4.9000000) 314.70100000(move2 robot wp8 wp9)(4.20000000) 899.50100000(wgr2v)2 robot wp24w(35.3000000) 318.9010000(wgr2v)2 robot wp9(37.3000000) 934.8010000(move2 robot wp24 wp25)(5.2000000) 356.20100000(move2 robot wp9 up1)(6.10000000) 940.0010000(wgr2v)2 robot wp25(35.3000000) 362.30100000(wgr2v)2 robot wp10(36.1000000) 975.3010000(w2v)2 robot wp25 wp26(5.2000000) 398.40100000(w2v)2 robot wp10 w11)(5.20000000) 980.5010000(wgr2v)2 robot wp26(32.3000000) 403.6010000(wgr2v)2 robot wp11)(35.50000000) 1012.8010000(w2v)2 robot wp26 wp27)(5.20000000) 439.10100000(w2v)2 robot wp11 w21)(5.20000000) 1018.0100000(wpr2v)2 robot wp27)(33.10000000) 444.30100000(wgr2v)2 robot wp12)(32.30000000) 1051.1010000(w2v)2 robot wp27 wp28)(5.20000000) 476.6010000(w2v)2 robot wp12 w13)(5.20000000) 1056.3010000(w2v)2 robot wp28)(41.5000000) 481.8010000(w2v)2 robot wp13(31.7000000) 1097.8010000(w2v)2 robot wp28 wp29)(5.20000000) 513.5010000(w2v)2 robot wp13 w14)(5.20000000) 1103.0010000(w2v)2 robot wp29w3)(5.2000000) 518.7010000(w2v)2 robot wp14)(5.20000000) 1138.3010000(w2v)2 robot wp29 w29)(5.20000000) 557.20100000(w2v)2 robot wp14 w15)(5.20000000) 1143.5010000(w2v)2 robot wp30(35.3000000) 562.4010000(wgr2v)2 robot wp15(34.9000000) 1178.8010000(w2v)2 robot wp30 w15)(4.90000000) 597.3010000(w2v)2 robot wp16)(5.20000000) 597.30100000(w2v)2 robot wp16)(5.20000000) 602.50100000(w2v)2 robot wp16)(5.20000000) ```  
Figure 23: Filling action sequence.