High speed driving of lateral guided method SSM for articulated vehicle with body fixed camera

Abstract

This paper proposes SSM (Sensor Steering Mechanism) for a lateral guided vehicle with an articulated body. Authors demonstrated the simple lateral guiding method SSM for the front wheel steer type, the reverse phase four-wheel steer type and the rear wheel steer type vehicle. SSM presents the stable lateral guiding performance for automated vehicle which follows a straight and curved path created by guideway. This paper proposes a simplified SSM to remove the following servo system for the camera rotation. The simplified SSM is applied to 1/25 scaled articulated dump truck which is developed by the previous paper. The stability of the simplified SSM is discussed. Experimental and simulation results show the stable moving and the performance of proposed method.

Keywords

• moving robot
• lateral guide
• ssm
• body fixed camera
• high-speed camera