Enhanced Path Planning for Articulated and Skid Steering Mining Vehicles
نویسنده
چکیده
Abstract: Autonomous guidance of the mining vehicle is based on the path tracking algorithm that use pre-calculated desired paths. These paths are often calculated without taking into account the nonholonomic nature of the vehicle motion. As a result the calculated path might be not feasible and the path tracking controller will be required to correct the situation, deteriorating at the same time the overall performance of the guiding algorithm. In this paper we describe path-planning algorithms for articulated and skid steering vehicles used in mining applications. We propose numerically stable procedure for computing off-line the skidding and articulation angles. The results of these computations complement the conventional path-planing procedures and improve significantly the path-tracking precision, and overall guidance performance. Copyright c 2002 IFAC
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