Autonomous motion control of a wheel loader

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

doi:10.1115/DSCC2009-2653

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 proceeding › Conference contribution › Scientific › peer-review

21 Citations (Scopus)

Abstract

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 language	English
Title of host publication	Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009
Publisher	American Society of Mechanical Engineers(ASME)
Pages	1339-1346
Number of pages	8
Edition	PART B
ISBN (Print)	9780791848920
DOIs	https://doi.org/10.1115/DSCC2009-2653
Publication status	Published - 2010
Publication type	A4 Article in conference proceedings
Event	2009 ASME Dynamic Systems and Control Conference, DSCC2009 - Hollywood, CA, United States Duration: 12 Oct 2009 → 14 Oct 2009

Publication series

Name	Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009
Number	PART B

Conference

Conference	2009 ASME Dynamic Systems and Control Conference, DSCC2009
Country/Territory	United States
City	Hollywood, CA
Period	12/10/09 → 14/10/09

ASJC Scopus subject areas

Control and Systems Engineering

Access to Document

10.1115/DSCC2009-2653

Cite this

Ghabcheloo, R., Hyvönen, M., Uusisalo, J., Karhu, O., Järä, J., & Huhtala, K. (2010). Autonomous motion control of a wheel loader. In Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009 (PART B ed., pp. 1339-1346). (Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009; No. PART B). American Society of Mechanical Engineers(ASME). https://doi.org/10.1115/DSCC2009-2653

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title = "Autonomous motion control of a wheel loader",

abstract = "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.",

author = "Reza Ghabcheloo and Mika Hyv{\"o}nen and Jarno Uusisalo and Otso Karhu and Juha J{\"a}r{\"a} and Kalevi Huhtala",

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isbn = "9780791848920",

series = "Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009",

publisher = "American Society of Mechanical Engineers(ASME)",

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booktitle = "Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009",

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Ghabcheloo, R, Hyvönen, M, Uusisalo, J, Karhu, O, Järä, J & Huhtala, K 2010, Autonomous motion control of a wheel loader. in Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009. PART B edn, Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009, no. PART B, American Society of Mechanical Engineers(ASME), pp. 1339-1346, 2009 ASME Dynamic Systems and Control Conference, DSCC2009, Hollywood, CA, United States, 12/10/09. https://doi.org/10.1115/DSCC2009-2653

Autonomous motion control of a wheel loader. / Ghabcheloo, Reza; Hyvönen, Mika; Uusisalo, Jarno et al.
Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009. PART B. ed. American Society of Mechanical Engineers(ASME), 2010. p. 1339-1346 (Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009; No. PART B).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Scientific › peer-review

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AU - Ghabcheloo, Reza

AU - Hyvönen, Mika

AU - Uusisalo, Jarno

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AU - Järä, Juha

AU - Huhtala, Kalevi

PY - 2010

Y1 - 2010

N2 - 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.

AB - 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.

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DO - 10.1115/DSCC2009-2653

M3 - Conference contribution

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T3 - Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009

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BT - Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009

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T2 - 2009 ASME Dynamic Systems and Control Conference, DSCC2009

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ER -

Ghabcheloo R, Hyvönen M, Uusisalo J, Karhu O, Järä J, Huhtala K. Autonomous motion control of a wheel loader. In Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009. PART B ed. American Society of Mechanical Engineers(ASME). 2010. p. 1339-1346. (Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009; PART B). doi: 10.1115/DSCC2009-2653

Autonomous motion control of a wheel loader

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