PATH TRACKING OF AN AUTONOMOUS LHD ARTICULATED VEHICLE

Abstract This paper presents the path tracking and following for the Autonomous LHD (Load-Haul-Dump) articulated vehicle. A fuzzy logic control system for the articulated vehicle was developed to control longitudinal and lateral motion. The lateral control keeps the vehicle along the planned path and the longitudinal control makes the vehicle running at the required speed. Fuzzy logic control method is compared with classical methods to evaluate its performance and several simulation experiments were performed to develop the path following control system with 3-D motion animation. Different type of paths were tested and analyzed.

[1]  J. Laumond.  Controllability of a multibody mobile robot , 1991 .

[2]  R. M. DeSantis,et al.  Path-tracking for a Tractor-Trailer-like Robot , 1994, Int. J. Robotics Res..

[3]  Mitsuji Sampei,et al.  Arbitrary path tracking control of articulated vehicles using nonlinear control theory , 1995, IEEE Trans. Control. Syst. Technol..

[4]  A. Hemami,et al.  Problem formulation for path tracking automation of low speed articulated vehicles , 1996, Proceeding of the 1996 IEEE International Conference on Control Applications IEEE International Conference on Control Applications held together with IEEE International Symposium on Intelligent Contro.

[5]  R. M. DeSantis.  Modeling and path-tracking for a load-haul-dump mining vehicle , 1997 .

[6]  Claudio Altafini,et al.  Path following with reduced off-tracking for the n-trailer system , 1998, Proceedings of the 37th IEEE Conference on Decision and Control (Cat. No.98CH36171).

[7]  Claudio Altafini,et al.  A Path-Tracking Criterion for an LHD Articulated Vehicle , 1999, Int. J. Robotics Res..

[8]  V. Polotski.  New reference point for guiding an articulated vehicle , 2000, Proceedings of the 2000. IEEE International Conference on Control Applications. Conference Proceedings (Cat. No.00CH37162).

[9]  Plamen Petrov,et al.  A practical approach to feedback path control for an articulated mining vehicle , 2001, Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180).