Lateral Control of Autonomous Concrete Mixer Truck Based on Multiple Look Ahead Distances and Fuzzy Controller
摘要
Automated driving and working have been attracted considerable attention in the construction machinery industry due to their safety and efficiency. In this paper, multiple look ahead distances are calculated for lateral error and heading-angle error and multiple fuzzy inference engines are proposed with vehicle speed and the above-mentioned errors. Moreover, a kinematic model of mixer truck was proposed in this paper to address the length and width of the concrete mixer truck. Satisfactory simulation and experimental results have been obtained for different reference paths.