IMPLEMENTATION OF SSM TO LATERAL GUIDED STEERING VEHICLE WITH BODY FIXED HIGH-SPEED CAMERA

摘要

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