A Path Tracking Criterion for an LHD Articulated Vehicle
Claudio Altafini
International Journal of Robotic Research , vol. 18, n. 5,
p. 435-441, May 1999
A path tracking criterion for the so-called LHD
(Load-Haul-Dump) truck used in underground mining is proposed in
this paper.
It exploits the particular configuration of this vehicle, composed of
two units connected by an actuated articulation.
The task is to follow the path represented by the middle of the tunnel
maintaining the whole vehicle at a reduced distance from the path
itself, in order to decrease the risk of crashes against the walls of
the tunnel.
This is accomplished via feedback through the synthesis of an
appropriate path tracking criterion.
The criterion is based on keeping track of the distances of the
midpoints of both axles of the vehicle from their orthogonal
projections on the path, using two different moving frames
simultaneously.
Local asymptotic stability to paths of constant curvature is achieved
by means of linear state feedback
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