Summary: A Path Tracking Criterion for an LHD Articulated
Vehicle
Claudio Altafini
Optimization and Systems Theory
Royal Institute of Technology, Stockholm, Sweden
altafini@math.kth.se
March 5, 1999
Abstract
A path tracking criterion for the so­called LHD (Load­Haul­Dump) 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, in order 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 keeping track of 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.
1 Introduction

Source: Altafini, Claudio - Functional Analysis Sector, Scuola Internazionale Superiore di Studi Avanzati (SISSA)

Collections: Engineering; Mathematics