A Path-Tracking Criterion for an LHD Articulated Vehicle
A Path-Tracking Criterion for an LHD Articulated Vehicle
复制标题
LHD 铰接式车辆的路径跟踪标准
DOI：
10.1177/027836499901800501
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发表时间：
1999
期刊：
影响因子：
--
通讯作者：
C. Altafini
中科院分区：
文献类型：
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作者：
C. Altafini
本文提出了地下采矿用铲运机的路径跟踪准则。它利用了这种车辆的特殊配置，由两个单元组成，通过驱动铰接连接。任务是沿着隧道中间所代表的路径行驶，使整个车辆与路径本身保持较小的距离，以降低碰撞隧道墙壁的风险。这是通过合成适当的路径跟踪标准的反馈来实现的。该标准是基于监测的距离的车辆的两个轴的中点，从他们的正交投影的路径上，同时使用两个不同的移动帧。常曲率路径的局部渐近稳定性通过线性状态反馈实现。
A path-tracking criterion for the so-called LHD (load-haul-dump) truck used in underground mining is proposed in this paper. It exploits the particular configuration of this vehicle, composed of two units connected by an actuated articulation. The task is to follow the path represented by the middle of the tunnel, maintaining the whole vehicle at a reduced distance from the path itself, to decrease the risk of crashes against the walls of the tunnel. This is accomplished via feedback through the synthesis of an appropriate path-tracking criterion. The criterion is based on monitoring the distances of the midpoints of both axles of the vehicle from their orthogonal projections on the path, using two different moving frames simultaneously. Local asymptotic stability to paths of constant curvature is achieved by means of linear-state feedback.