Modelling and control of an autonomous articulated mining vehicle navigating a predefined path

B. J. Alshaer, T. T. Darabseh, A. Q. Momani

Research output: Contribution to journalArticlepeer-review

17 Citations (Scopus)


This research is conducted on machine dynamics and steering control of an articulated surface mining large wheel loader (LWL) navigating a predefined path. Modelling a LWL based on computational multibody dynamics is achieved by modelling each system of the articulated vehicle separately then merging them to form an overall system of an articulated vehicle navigating a predefined path. This model includes the front and rear frames, articulated hinge, steering actuators, tyre model, steering controller and a predefined path. Fuzzy and PID steering controllers are developed and simulated. Results show that it is possible to model large articulated vehicles as a multibody mechanical system. Both of the developed controllers are able to control the lateral and longitudinal motion of the vehicle and drive the machine over the desired path accurately. The fuzzy logic controller has longer rising time but shorter settling time when compared with the PID controller.

Original languageEnglish
Pages (from-to)152-168
Number of pages17
JournalInternational Journal of Heavy Vehicle Systems
Issue number2
Publication statusPublished - 2014
Externally publishedYes


  • Articulated vehicle
  • Automated vehicle
  • Steering control
  • Tyre model
  • Vehicle modeling
  • Wheel loader

ASJC Scopus subject areas

  • Automotive Engineering
  • Mechanical Engineering


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