A path tracking algorithm for articulated vehicle: Development and simulations

Path tracking is a process which concerned with how to determine speed and steering settings at each instant of time in order to lead the vehicle following a certain path. This paper presents a path tracking algorithm for underground unmanned articulated dump truck(UUADT). Firstly, the dynamic model of the articulated dump truck was established. Base on the dynamic model, the algorithm, which utilizes a fusion deviation as feedback, is developed specially to simplify the structure of control system without sacrificing the performance. Finally, the simulation is carried out through the Adams and MATLAB co-simulation. Simulation results show that this algorithm is effective and stable for path tracking and it is further proved that the algorithm can be applied in the UUADT path tracking.