Title: Modelling and control of an autonomous articulated mining vehicle navigating a predefined path

Authors: B.J. Alshaer; T.T. Darabseh; A.Q. Momani

Addresses: Department of Mechanical Engineering, Jordan University of Science and Technology, Irbid 22110, Jordan ' Department of Mechanical Engineering, Jordan University of Science and Technology, Irbid 22110, Jordan ' Department of Mechanical Engineering, Jordan University of Science and Technology, Irbid 22110, Jordan

Abstract: This research is conducted on machine dynamics and steering control of an articulated surface mining large wheel loader (LWL) navigating a predefined path. Modelling a LWL based on computational multibody dynamics is achieved by modelling each system of the articulated vehicle separately then merging them to form an overall system of an articulated vehicle navigating a predefined path. This model includes the front and rear frames, articulated hinge, steering actuators, tyre model, steering controller and a predefined path. Fuzzy and PID steering controllers are developed and simulated. Results show that it is possible to model large articulated vehicles as a multibody mechanical system. Both of the developed controllers are able to control the lateral and longitudinal motion of the vehicle and drive the machine over the desired path accurately. The fuzzy logic controller has longer rising time but shorter settling time when compared with the PID controller.

Keywords: articulated vehicles; automated vehicles; vehicle modelling; steering control; large wheel loaders; LWL; tyre modelling; autonomous vehicles; mining vehicles; vehicle navigation; machine dynamics; multibody dynamics; dynamic modelling; front frame; rear frame; articulated hinge; steering actuators; predefined paths; fuzzy control; PID control; simulation.

DOI: 10.1504/IJHVS.2014.061640

International Journal of Heavy Vehicle Systems, 2014 Vol.21 No.2, pp.152 - 168

Received: 08 May 2021
Accepted: 12 May 2021

Published online: 27 May 2014 *

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