This paper addresses the problem of autonomous control of a hydraulically actuated articulated-frame-steering (AFS) mobile machine— a wheel loader. Our autonomous motion control system includes a mission planning graphical user interface, an improved odometry algorithm and a GPS device for navigation purposes, together with a model based path-following control strategy, and speed control. The test platform is a small prototype wheel loader based on Avant-635 whose hydraulic components are substituted by electrically controlled equivalents. System development and preliminary calibrations are done using GIMsim— an elaborated semi-empirical hardware-in-the-loop simulator. Some field experiments are presented that demonstrate satisfactory performance of the system at this stage. Further tunings are required to reach a desired performance.
Skip Nav Destination
ASME 2009 Dynamic Systems and Control Conference
October 12–14, 2009
Hollywood, California, USA
Conference Sponsors:
- Dynamic Systems and Control Division
ISBN:
978-0-7918-4893-7
PROCEEDINGS PAPER
Autonomous Motion Control of a Wheel Loader Available to Purchase
Reza Ghabcheloo,
Reza Ghabcheloo
Tampere University of Technology (TUT), Tampere, Finland
Search for other works by this author on:
Mika Hyvo¨nen,
Mika Hyvo¨nen
Tampere University of Technology (TUT), Tampere, Finland
Search for other works by this author on:
Jarno Uusisalo,
Jarno Uusisalo
Tampere University of Technology (TUT), Tampere, Finland
Search for other works by this author on:
Otso Karhu,
Otso Karhu
Tampere University of Technology (TUT), Tampere, Finland
Search for other works by this author on:
Juha Ja¨ra¨,
Juha Ja¨ra¨
Tampere University of Technology (TUT), Tampere, Finland
Search for other works by this author on:
Kalevi Huhtala
Kalevi Huhtala
Tampere University of Technology (TUT), Tampere, Finland
Search for other works by this author on:
Reza Ghabcheloo
Tampere University of Technology (TUT), Tampere, Finland
Mika Hyvo¨nen
Tampere University of Technology (TUT), Tampere, Finland
Jarno Uusisalo
Tampere University of Technology (TUT), Tampere, Finland
Otso Karhu
Tampere University of Technology (TUT), Tampere, Finland
Juha Ja¨ra¨
Tampere University of Technology (TUT), Tampere, Finland
Kalevi Huhtala
Tampere University of Technology (TUT), Tampere, Finland
Paper No:
DSCC2009-2653, pp. 427-434; 8 pages
Published Online:
September 16, 2010
Citation
Ghabcheloo, R, Hyvo¨nen, M, Uusisalo, J, Karhu, O, Ja¨ra¨, J, & Huhtala, K. "Autonomous Motion Control of a Wheel Loader." Proceedings of the ASME 2009 Dynamic Systems and Control Conference. ASME 2009 Dynamic Systems and Control Conference, Volume 2. Hollywood, California, USA. October 12–14, 2009. pp. 427-434. ASME. https://doi.org/10.1115/DSCC2009-2653
Download citation file:
71
Views
Related Proceedings Papers
A Novel Autonomous Scaled Electric Combat Vehicle
IDETC-CIE2019
Related Articles
Physically-Accurate Synthetic Images for Machine Vision Design
J. Manuf. Sci. Eng (November,1999)
Design of a Novel Flexible Robotic Laparoscope Using a Two Degrees-of-Freedom Cable-Driven Continuum Mechanism With Major Arc Notches
J. Mechanisms Robotics (December,2023)
Low Speed Motion Control Experiments on a Single Point Diamond Turning Machine Using CMAC Learning Control Algorithm
J. Dyn. Sys., Meas., Control (December,1997)
Related Chapters
A Digital-to-Analog Converter for Extreme Environments
Intelligent Engineering Systems through Artificial Neural Networks, Volume 16
Reform of Forest Tenure on Esupermap Data Gathering System
International Conference on Advanced Computer Theory and Engineering, 5th (ICACTE 2012)
Functional Block Diagrams and Automated Construction of Event Trees (PSAM-0057)
Proceedings of the Eighth International Conference on Probabilistic Safety Assessment & Management (PSAM)