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Search Results (3)

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Keywords = articulated steering vehicles (ASVs)

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18 pages, 9963 KiB  
Article
A Hybrid DWA-MPC Framework for Coordinated Path Planning and Collision Avoidance in Articulated Steering Vehicles
by Xuanwei Chen, Changlin Yang, Huosheng Hu, Yunlong Gao, Qingyuan Zhu and Guifang Shao
Machines 2024, 12(12), 939; https://doi.org/10.3390/machines12120939 - 20 Dec 2024
Cited by 2 | Viewed by 1455
Abstract
This paper presents an autonomous collision avoidance method that integrates path planning and control for articulated steering vehicles (ASVs) operating in underground tunnel environments. The confined nature of tunnel spaces, combined with the complex structure of ASVs, increases the risk of collisions due [...] Read more.
This paper presents an autonomous collision avoidance method that integrates path planning and control for articulated steering vehicles (ASVs) operating in underground tunnel environments. The confined nature of tunnel spaces, combined with the complex structure of ASVs, increases the risk of collisions due to path-tracking inaccuracies. To address these challenges, we propose a DWA-based obstacle avoidance algorithm specifically tailored for ASVs. The method incorporates a confidence ellipse, derived from the time-varying distribution of tracking errors, into the DWA evaluation function to effectively assess collision risk. Furthermore, the execution accuracy of DWA is improved by integrating a kinematic-based Model Predictive Control. The proposed approach is validated through simulations and field tests, with results demonstrating significant enhancements in collision avoidance and path-tracking accuracy in confined spaces compared to conventional DWA methods. Full article
(This article belongs to the Special Issue Dynamics and Path Planning for Autonomous Vehicles)
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12 pages, 4129 KiB  
Article
Path-Tracking Ability of the ASV on Different Adhesion Coefficient Roads Based on Slide Mode Control
by Shengzhi Zhong, Dengzhi Peng, Bin Huang and Liutao Ma
Electronics 2024, 13(1), 105; https://doi.org/10.3390/electronics13010105 - 26 Dec 2023
Cited by 5 | Viewed by 1337
Abstract
A vehicle equipped with an articulated steering system is often used in a particular area, such as a mine or the construction field. These sealing or semi-sealing fields make autonomous driving by an ASV (Articulated Steering Vehicle) easier than in passenger cars. Path-tracking [...] Read more.
A vehicle equipped with an articulated steering system is often used in a particular area, such as a mine or the construction field. These sealing or semi-sealing fields make autonomous driving by an ASV (Articulated Steering Vehicle) easier than in passenger cars. Path-tracking is essential for an autonomous vehicle. To improve the path-tracking ability of an ASV, a path-tracking model is established based on dynamic theory. Then, the slide-mode predictive-control (SMPC) strategy is initiated to design the path-tracking controller. The improvement in the path-tracking ability on roads with different adhesion coefficients is validated via the HIL (Hardware in Loop) platform. According to the simulation in HIL with the provided strategy, the path-tracking error during the typical condition decreased by 21.73~93.84%, demonstrating the SMC controller can be used to improve the path-tracking performance of an ASV. Full article
(This article belongs to the Section Electrical and Autonomous Vehicles)
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15 pages, 4543 KiB  
Article
Dynamic Modeling and Characteristic Analysis of Articulated Steering Vehicles
by Lulu Gao, Yueqi Dong and Jixing Zhao
Appl. Sci. 2023, 13(8), 5099; https://doi.org/10.3390/app13085099 - 19 Apr 2023
Cited by 5 | Viewed by 3617
Abstract
Articulated steering vehicles (ASVs), with brilliant maneuverability and efficiency, are being widely applied in mining, construction, agriculture, and forestry. However, their special structures result in them having complex dynamic characteristics, but there are no reliable models for further research. This study established a [...] Read more.
Articulated steering vehicles (ASVs), with brilliant maneuverability and efficiency, are being widely applied in mining, construction, agriculture, and forestry. However, their special structures result in them having complex dynamic characteristics, but there are no reliable models for further research. This study established a simulation platform with the dynamic model of ASVs, where the subsystems of the power train, steering systems, tires, and frames were also included. The dynamic model was validated with field test data of typical working cycles, in which the focus was on longitudinal and lateral motions and the characteristics of steering and power train systems. Then, the distribution of hydraulic and drive power was revealed using the simulation platform and test data. For a load–haul–dump (LHD) vehicle with a 6 m3 capacity, the maximum power of the system was about 289 kW; the power of the motor accounted for the majority of the power at the beginning stage of loading, being about 74%, and then the hydraulic power dominated in the later stage of loading. During the transport stage, the power of the motor accounted for about 79% of the total power. Finally, the influence of the dynamic parameters on lateral and longitudinal motions was analyzed based on the validated platform. Full article
(This article belongs to the Section Mechanical Engineering)
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