Path tracking control problem formulation of an LHD loader

Load-haul-dump units (LHD) are loader-type vehicles that are frequently employed in the underground mines for transfer of ore from the loading point to ore pass. Because they have to travel in the relatively narrow and restricted underground galleries, they have less height and are narrower than the ordinary mechanical loaders that are used in construction work. Furthermore, they are articulated in the middle in order to be able to better negotiate the curves. Automatic navigation of these units is among the essential tasks for the prospect of their fully automated operation. Path tracking property of this class of vehicles is different than it is for conventional vehicles. The vehicle must move in both forward and backward directions. Moreover due to the vehicle's relatively slow speed, study of the kinematics of motion is sufficient for navigation purposes and design of motion controller This article deals with formulating the equations governing the mechanics of motion and the control problem to be used for their path tracking control.