Abstract
We are interested in automated control of an articulated steering type vehicle like a wheel loader. We consider a typical motion of the wheel loader drawing a V-shape when it picks gravel up and loads it to the dump truck. A symmetrical clothoid is proposed to specify the V-shape trajectory. Representation of the trajectory and a method to follow the trajectory by a miniature wheel loader is illustrated in this paper, together with the implementation and experimental results.
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References
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© 1998 Springer-Verlag London Limited
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Ishimoto, H., Tsubouchi, T., Sarata, S., Yuta, S. (1998). A Practical Trajectory Following of an Articulated Steering Type Vehicle. In: Zelinsky, A. (eds) Field and Service Robotics. Springer, London. https://doi.org/10.1007/978-1-4471-1273-0_60
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DOI: https://doi.org/10.1007/978-1-4471-1273-0_60
Publisher Name: Springer, London
Print ISBN: 978-1-4471-1275-4
Online ISBN: 978-1-4471-1273-0
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