Motion Control for Bucket of Wheel Loader Based on Shape of Pile and Resistance Force

For autonomous scooping operation by wheel loader, a method for trajectory generation and motion control of bucket at scooping operation is proposed. Prior to scooping, threedimensional shape of pile is measured by stereovision system with two CCD cameras. The initial trajectory model is modified according to the shape of pile. During scooping, the control values for the actuators are arranged based on the resistance force. The proposed method is implemented on the experimental model. The results show that the adequate bucket control is performed by the proposed method. For effective scooping, the desirable direction of advancing of the bucket is discussed.