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.
- Dynamic Systems and Control Division
Autonomous Motion Control of a Wheel Loader
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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
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