@inproceedings{07b7c74c1bd545f490a0a65a27d34aaf,
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",
note = "Copyright: Copyright 2017 Elsevier B.V., All rights reserved.; 2009 ASME Dynamic Systems and Control Conference, DSCC2009 ; Conference date: 12-10-2009 Through 14-10-2009",
year = "2010",
doi = "10.1115/DSCC2009-2653",
language = "English",
isbn = "9780791848920",
series = "Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009",
publisher = "American Society of Mechanical Engineers(ASME)",
number = "PART B",
pages = "1339--1346",
booktitle = "Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009",
address = "United States",
edition = "PART B",
}