616 アーティキュレート式車両のための軌道誘導SSMの提案

抄録

This paper proposes SSM (Sensor Steering Mechanism) for lateral guided vehicle with an articulated body which is allowing the vehicle to change moving directions. Authors demonstrate the geometry of SSM for a front wheel steer type, reverse phase four-wheel steer type and 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. The other hand, SSM is not established for articulated vehicles such as wheel loaders and dump tracks used in mine and construction site. SSM for an articulated vehicle enables a wheel loader to automated moving on every spaces. This paper leads SSM for an articulated vehicle and constructs an experimental robotic vehicle with proposed SSM. Simulated and experimental data show the advantages of proposed SSM.