This paper examines the kinematics and control of a Load Haul Dump Vehicle used in underground mining operations. The aim of the work is to develop an autonomous guidance strategy. A linear, state-space, mathematical model of the vehicle is derived purely from geometric consideration of the vehicle and its desired path. Autonomous regulation of the vehicle is shown to be theoretically feasible using state variable feedback of displacement, heading, and curvature error. A relationship between stability and vehicle speed is derived. This expression forms the basis of an adaptive tuning strategy, which optimizes the vehicle’s dynamic response.
Load Haul Dump Vehicle Kinematics and Control
Contributed by the Dynamic Systems and Control Division of THE AMERICAN SOCIETY OF MECHANICAL ENGINEERS for publication in the ASME JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received by the ASME Dynamic Systems and Control Division, May 2000; final revision, August 2002. Associate Editor: S. Sivashankar.
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Ridley, P., and Corke, P. (March 10, 2003). "Load Haul Dump Vehicle Kinematics and Control ." ASME. J. Dyn. Sys., Meas., Control. March 2003; 125(1): 54–59. doi: https://doi.org/10.1115/1.1541671
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