Title: Gyro feedback of a hydraulic steering system

Authors: Hakan Fredriksson, Kalevi Hyyppa, Ulf Andersson

Addresses: Department of Computer Science, Electrical and Space Engineering, Lulea University of Technology, SE-971 87 Lulea, Sweden. ' Department of Computer Science, Electrical and Space Engineering, Lulea University of Technology, SE-971 87 Lulea, Sweden. ' Department of Computer Science, Electrical and Space Engineering, Lulea University of Technology, SE-971 87 Lulea, Sweden

Abstract: We study the problem to steer, teleoperated as well as autonomously, a tractor that is to operate on a rough and slippery surface. The main idea is to control the effective steering angle of the vehicle. A benefit with this approach is that the vehicle will strive to move in a predefined way irrespective of the surface conditions. To test if the approach is usable we implemented a straight forward p-controller in combination with an estimator of the effective steering angle of the tractor. Our tests indicate that the approach can be useful. Future work would include studies on more advanced control strategies and estimators to reduce some of the problems that we address.

Keywords: teleoperation; autonomous vehicles; gyro feedback; side-slip compensation; snow removal tractors; off-road vehicles; hydraulic steering; effective steering angle; vehicle control.

DOI: 10.1504/IJVAS.2011.041384

International Journal of Vehicle Autonomous Systems, 2011 Vol.9 No.3/4, pp.189 - 202

Available online: 21 Jul 2011 *

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