Modeling and Path-Tracking for a Load-Haul-Dump Mining Vehicle

[+] Author and Article Information
R. M. DeSantis

E & C Engineering Department, Ecole Polytechnique de Montréal, 2900, boul. Edouard-Montpetit, CP 6079-A, Montreal, Quebec, Canada, H3C 3A7

J. Dyn. Sys., Meas., Control 119(1), 40-47 (Mar 01, 1997) (8 pages) doi:10.1115/1.2801212 History: Received November 04, 1994; Online December 03, 2007


A path-tracking controller for a load-haul-dump mining vehicle is designed using a geometric approach recently developed in the context of car- and tractor-trailer-like vehicles. This controller is made up of a kinematic component computing the velocities required of the vehicle for satisfactory path-tracking, and a dynamic component determining the propulsion and steering that are necessary to acquire these velocities. Prospects for practical implementation appear to be promising from an operational, a technological, and an economic point of view.

Copyright © 1997 by The American Society of Mechanical Engineers
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