Scene-Adaptive Loader Trajectory Planning and Tracking Control DOI Creative Commons
Yingnan Li, Wenwen Dong,

Tianhao Zheng

и другие.

Sensors, Год журнала: 2025, Номер 25(4), С. 1135 - 1135

Опубликована: Фев. 13, 2025

Wheel loaders play a crucial role in daily production and transportation. With the rapid development of intelligence passenger vehicles, freeing loader operators from high-risk repetitive tasks has become pressing issue. This paper presents novel efficient path planning tracking framework tailored to unique body structure specific operating environment loaders. We improve Hybrid A* search algorithm based on operational characteristics integrate it with dynamically updated grid maps enable autonomous paths unstructured environments, meeting efficiency requirements production. Additionally, address challenge poor trajectory control accuracy caused by hydraulic articulated steering, we propose new controller idea hierarchical control. use an extended state observer compensate for unknown disturbances steering execution layer employ fuzzy fractional-order PID handle nonlinearity Field experiments using proposed approach demonstrate that can autonomously real-time complete changing scenarios.

Язык: Английский

Scene-Adaptive Loader Trajectory Planning and Tracking Control DOI Creative Commons
Yingnan Li, Wenwen Dong,

Tianhao Zheng

и другие.

Sensors, Год журнала: 2025, Номер 25(4), С. 1135 - 1135

Опубликована: Фев. 13, 2025

Wheel loaders play a crucial role in daily production and transportation. With the rapid development of intelligence passenger vehicles, freeing loader operators from high-risk repetitive tasks has become pressing issue. This paper presents novel efficient path planning tracking framework tailored to unique body structure specific operating environment loaders. We improve Hybrid A* search algorithm based on operational characteristics integrate it with dynamically updated grid maps enable autonomous paths unstructured environments, meeting efficiency requirements production. Additionally, address challenge poor trajectory control accuracy caused by hydraulic articulated steering, we propose new controller idea hierarchical control. use an extended state observer compensate for unknown disturbances steering execution layer employ fuzzy fractional-order PID handle nonlinearity Field experiments using proposed approach demonstrate that can autonomously real-time complete changing scenarios.

Язык: Английский

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