Path Planning and Smoothing for 4WDs Hydraulic Heavy-Duty Field Robots

This paper discusses the path planning and path-following control for a four wheel drive (4WD), steer-articulated boom lift driven by hydraulic actuators. The environment is assumed to be both static and known. The path planning will be done in two phases, where the first one finds a crude, collisio...

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Bibliographic Details
Published in:International journal of fluid power 2023-01
Main Authors: Mäenpää, Pekka, Mattila, Jouni
Format: Article
Language:English
Online Access:Get full text
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Summary:This paper discusses the path planning and path-following control for a four wheel drive (4WD), steer-articulated boom lift driven by hydraulic actuators. The environment is assumed to be both static and known. The path planning will be done in two phases, where the first one finds a crude, collision-free path accounting for the vehicle dimensions, and this path will be smoothed with a path smoothing algorithm to satisfy the kinematic and dynamic constraints imposed by the vehicle and its actuators. The path smoothing algorithm will be chosen from several candidates by using a simulated test scenario. Then, the simulation results will be used to verify the path planners feasibility in heavy-duty, four-wheel-steered field robots having hydraulic actuators and high inertia.
ISSN:1439-9776
2332-1180
DOI:10.13052/ijfp1439-9776.2413