Publications / 2006 Proceedings of the 23rd ISARC, Tokyo, Japan

Development of Autonomous System for Loading Operation by Wheel Loader

Shigeru Sarata, Noriho Koyachi, Takashi Tubouchi, Hisashi Osumi, Masamitu Kurisu, Kazuhiro Sugawara
Pages 466-471 (2006 Proceedings of the 23rd ISARC, Tokyo, Japan, ISBN 9784990271718, ISSN 2413-5844)
Abstract:

An outline of the developed system for autonomous loading operation by wheel loader will be described. The system consists of three sub-systems: (1) Environment measuring and modeling, (2) Planning and (3) Motion control. The environment measuring sub-system measures 3D shape of the environment by stereo-vision system. The shape of the pile is converted into the environment models. The planning sub-system determines the position and direction of scooping on the pile based on the environment models. It generates the V shape path between the scooping point and the loading point as well. The motion control sub-system controls actuators on the loader based on the reference values from the planning sub-system in traveling on the V shape. However the motion of the bucket at scooping is controlled based on the resistance force applied on the bucket during scooping motion. The developed system is installed on an experimental small size scale model in lab and on a real wheel loader in the experimental field.

Keywords: loading operation, autonomous system, V-shape path, scooping, wheel loader