Path generation for autonomous locomotion of articulated steering wheel loader

A wheel loader is the major machine that has been used in several fields for scooping, carrying, and loading of crushed ores. Recently, automation of the wheel loader task has been receiving considerable attention. This article describes a path-generation method for autonomous locomotion of the wheel loader. From the viewpoint of locomotion stability and ease of control, it is necessary for the path to be smooth and easily calculated. In order to satisfy these conditions, a path-generation method using a clothoid curve is proposed. The change in curvature of the clothoid curve is continuous and is proportional to the length of the curve. Therefore, the clothoid curve provides continuous change of the steering angle. Furthermore, an interpolation method between the initial and target points of the wheel loader is proposed in this study, which consists of the clothoid curve segment and a straight-line segment. A V-shaped curve including the backward path and the forward path is also generated taking into account the avoidance of rapid fuming.