Publications / 1996 Proceedings of the 13th ISARC, Tokyo, Japan
To implement an autonomy upon a wheel loader is emphasized in this research work. Such an autonomy will contribute in assisting human operator of the wheel loader. The present authors have built a miniature wheel loader (MWL) whose name is ""Yamazumi"", on which a trajectory following control scheme has been being developed. In this report, a kinematics analysis and a proposal of a trajectory following scheme are presented. Behavior of MWL after simple test running is also illustrated.