Simplified Dynamic Model of an Load-Haul-Dump Vehicle

This paper provides an overview of the derivation of a dynamic model of a Load-Haul-Dump (LHD) vehicle for the purposes of autonomous navigation. The model is derived using Lagrangian Dynamics and makes use of a tyre model in an attempt to include the effect of basic tyre dynamics on the vehicle trajectory. An open loop nonlinear optimal control strategy is applied to the dynamic model and simulation results obtained from the vehicle model are provided and the results discussed and analysed.