| This thesis presents the theoretical analysis, dynamic modeling of a class of vehicle/robot, the LHD vehicle. A fuzzy logic control system for the LHD vehicle is developed. The development of the controller considers the path following problem in both ways: lateral and longitudinal. The lateral control keeps the LHD vehicle from the tunnel wall along the planned path and the longitudinal control makes the vehicle running in the given velocity. The controller is made up of two component, a kinematic component computes the velocities of the LHD vehicle required for satisfactory path following, and a dynamic component determines the propulsion and steering torques that are necessary to acquire these velocities. Both conventional and fuzzy logic control methods are used to make the LHD vehicle to carry out the path following tasks. Simulation software is used in this thesis to develop the path following control system and 3-D motion animation. The simulation results from different assigned paths are presented. Some possible future improvements are discussed in the end. |
