Autonomous motion control of a wheel loader

Reza Ghabcheloo, Mika Hyvönen, Jarno Uusisalo, Otso Karhu, Juha Järä, Kalevi Huhtala

    Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review

    21 Citations (Scopus)


    This paper addresses the problem of autonomous control of a hydraulically actuated articulated-frame-steering (AFS) mobile machine- a wheel loader. Our autonomous motion control system includes a mission planning graphical user interface, an improved odometry algorithm and a GPS device for navigation purposes, together with a model based path-following control strategy, and speed control. The test platform is a small prototype wheel loader based on Avant-635 whose hydraulic components are substituted by electrically controlled equivalents. System development and preliminary calibrations are done using GIMsim- an elaborated semi-empirical hardware-in-the-loop simulator. Some field experiments are presented that demonstrate satisfactory performance of the system at this stage. Further tunings are required to reach a desired performance.

    Original languageEnglish
    Title of host publicationProceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009
    PublisherAmerican Society of Mechanical Engineers(ASME)
    Number of pages8
    EditionPART B
    ISBN (Print)9780791848920
    Publication statusPublished - 2010
    Publication typeA4 Article in conference proceedings
    Event2009 ASME Dynamic Systems and Control Conference, DSCC2009 - Hollywood, CA, United States
    Duration: 12 Oct 200914 Oct 2009

    Publication series

    NameProceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009
    NumberPART B


    Conference2009 ASME Dynamic Systems and Control Conference, DSCC2009
    Country/TerritoryUnited States
    CityHollywood, CA

    ASJC Scopus subject areas

    • Control and Systems Engineering


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