Modeling and path-tracking for a load-haul-dump mining vehicle

Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME

Volumn 119, Issue 1, 1997, Pages 40-47

  DeSantis, R M ^a  

^a ÉCOLE POLYTECHNIQUE DE MONTRÉAL   (Canada)

Author keywords

[No Author keywords available]

Indexed keywords

EID: 0001996847     PISSN: 00220434     EISSN: 15289028     Source Type: Journal    
DOI: 10.1115/1.2801212     Document Type: Article

References (32)

1. Baiden, G., and Henderson, E 1994, “LHD Teleoperation and Guidance: Proven Productivity Improvement Tools,”6th Canadian Symposium on Mining Automation, Oct. 16-19, Montreal, pp. 77-87.
2. D’Andrea-Novel, B., Bastin, G., and Campion, G., 1992, “Dynamic Feedback Linearization of Nonholonomic Wheeled Mobile Robots,” Proc. Of the 1992 1CRA Conference, Nice, France, pp. 2527-2530.
3. Dasys, A., Drouin, A., and Geoffry, L., “Teaching an LHD to Muck,” 6th Canadian Symposium on Mining Automation, Oct. 16-19, Montreal, pp. 87-94.
4. DeSantis, R. M 1994a, “Dynamic Modeling of Mechanical Systems Subject to Holonomie and Nonholonomic Constraints,” EPM/RT-94/04, Ecole Polytechnique de Montréal.
5. DeSantis, R. M., 1994b, “Path-Tracking for a Car-like Robot with Single and Double Steering,”IEEE Trans On Vehicular Technology, Vol. 44, No. 2, May pp. 366-377.
6. DeSantis, R. M 1994c, “Path-Tracking for Tractor-Trailer-like Robots,"Int. Journal of Robotic Research, Vol. 13, No. 3, pp. 533-544.
7. Guibert, C., 1993, Etude d’un Système de Guidage Autonome, Rapport de Projet de Fin d’études, Ecole Polytechnique de Montréal, summer, p. 84.
8. Hurteau, R., Piche, A., and Saint-Amant, M., 1988, “Experimental Results of the Teleoperation and Automatic Guidance of LHDs,” 1st IFAC Workshop on Advances in Automation of Underground Hardrock Mining, Quebec.
9. Hurteau, R., St-Amant, M., Laperriere, Y., and Chevrette, G., 1992, “Optical Guidance System for Underground Vehicles,” 1992 IEEE Int. Conference on Robotics and Automation, Nice, France, pp. 639-644.
10. Kanayama, Y., Kimura, Y., Miyazaki, F and Noguchi, T 1990, “A Stable Tracking Control Method for an Autonomous Mobile Robot,” 1990 IEEE Int. Conference on Robotics and Automation, Cincinnati, Ohio, pp. 384-389.
11. Kane, T. R., and Levinson, D. A., 1985, Dynamics: Theory and Applications, McGraw-Hill.
12. Kane, T. R., Likins, P. W., and Levinson, D. A., 1983, Spacecraft Dynamics, McGraw-Hill, New York.
13. Khalil, H. K., 1992, Nonlinear Systems, MacMillan, New York.
14. Kumar, D., and Vagenas, N., 1993, “Performance Evaluation of an Automatic Load-Haul-Dump Vehicle,”C1M Bulletin, Vol. 86, N. 974, Oct., pp. 39-42.
15. Lane, J. D and King, R. H 1994, “Computer Assisted Guidance of an Underground Mine Truck,” 1994 IEEE Int. Conference on Robotics and Automation, San Francisco, CA, pp. 420-425.
16. Larsson, U., Zell, C., Hyppa, K., and Wemesson, A., 1994, “Navigating an Articulated Vehicle and Reversing with a Trailer,” 1994 IEEE Int. Conference on Robotics and Automation, San Francisco, CA, pp. 2398-2404.
17. Latombe, J. C., 1991, Robot Motion Planning, Kluwer.
18. Laumond, I. P., 1993, “Controllability of a Multibody Mobile Robot,”IEEE Trans on Robotics and Automation, Vol. 9, N. 6, Dec., pp. 755-763.
19. Luh, J. Y. S., Walker, M. W., and Paul, R. P. C., 1980, “Resolved-Acceleration Control of Mechanical Manipulators,” IEEE Transactions on Automatic Control, Vol. AC-25, No. 3, June 1994, pp. 468-474.
20. Morel-Fourrier, P., and Ravassard, J. C 1994, “Comportement Dynamique d’un Contrôleur de Suivi de Chemin pour un Tracteur-Remorque," Rapport de Stage MST-AEI, Ecole Polytechnique de Montréal, summer, p. 136.
21. Saha, K. S., and Angeles, J., 1991, “Dynamics of Nonholonomic Mechanical Systems Using a Natural Orthogonal Complement,” ASME Journal of Applied Mechanics, Vol. 58, pp. 238-243.
22. Samson, C., 1995, “Control of Chained Systems Application to Path Following and Time Varying Point-Stabilization of Mobile Robots,”IEEE Trans on Automatic Control, Vol. 40, N. 1, Jan., pp. 64-77.
23. Sampei, M., Tamura, T., Itoh, T., and Nakamichi, M., 1991, “Path-Tracking of Trailer-Like Mobile Robot,” Proceedings of the 1991IROS Conference, Osaka, Japan, pp. 193-198.
24. Sampei, M., Tamura, T., Kobayashi, T., and Shibui, N 1995, “Arbitrary Path-Tracking Control of Articulated Vehicles Using Nonlinear Control Theory,”IEEE Trans on Control Technology, Vol. 3, N. 1, Mar., pp. 125-131.
25. Sarkar, N., Yun, X., Kumar, V., 1994, “Control of Mechanical Systems with Rolling Constraints: Application to Dynamic Control of Mobile Robots,”Int. Journal of Robotic Research, Vol. 13, N. 1, pp. 55-69.
26. St-Amant, M., Laperriere, Y., Hurteau, R., and Chevrette, G., 1991, “A Simple Robust Vision System for Underground Vehicle Guidance,” Proc. 1991 Int. Symp. On Mine Mechanization and Automation, Colorado School of Mines, Golden, CO, pp. 6.1-6.20.
27. St-Amant, M., Piche, A., and Hurteau, R., 1988, “Evaluation of Automatic Guidance Systems and Their Applicability to Load, Haul and Dump Vehicles,”3rd Canadian Symposium on Mining Automation, 177-185.
28. Strickland, W. H., and King, R. H., 1993, “Characteristics of Ultrasonic Ranging Sensors in an Underground Environment,” US Bureau of Mines Report of Investigation, 9452, 39 pp.
29. Tilbury, D., Laumond, J. P., Murray, R. M., Sastry, S., and Walsh, G 1992, “Steering Car-like Systems with Trailers Using Sinusoids,” 1992 IEEE Int. Conference on Robotics and Automation, Nice, France, pp. 1993-1998.
30. Tilbury, D., Murray, R. M., and Sastry, S. S., 1995, “Trajectory Generation for the V-Trailer Problem Using Goursat Normal Form,”IEEE Trans on Automatic Control, Vol. 40, No. 5, May, pp. 802-819.
31. Walsh, G., Tilbury, D., Sastry, S., Murray, R., Laumond, J. P., 1994, “Stabilization of Trajectories for Systems with Nonholonomic Constraints,”IEEE Trans on Automatic Control, Vol. 39, No. 1, Jan., pp. 216-222.
32. Whitney, D.E., 1969, “Resolved Motion Rate Control of Manipulators and Human Prostheses,”IEEE Trans on Man Machine Systems, Vol. 10, pp. 47-53.