Publications / 2010 Proceedings of the 27th ISARC, Bratislava, Slovakia

Improved Path Planning Method for Autnomous Loading Operation by Wheel Loader

Shigeru Sarata, Noriho Koyachi, Takashi Tsubouchi
Pages 81-88 (2010 Proceedings of the 27th ISARC, Bratislava, Slovakia, ISBN 978-80-7399-974-2, ISSN 2413-5844)

Authors have been conducting research on an autonomous system for loading operation by wheel loader. In loading operation with V shape loading method, a time for travelling is the dominant factor for the cycle time. The path should be modified varied condition of the working place. To achieve quicker and reliable operation in autonomous loading operation, new path planning method is developed. In this method, the path planning is based on Look Ahead control and combination of the path elements. The new developed method generates shorter path with high flexibility compare to the planned path by the older version of path planning in the research. Detail of the method and simulation results will be described in this paper.

Keywords: Path planning, loading operation, autonomous system, wheel loader