Publications / 1989 Proceedings of the 6th ISARC, San Francisco, USA

Bulldozer Tracking and Navigation Using Servo-Controlled Laser Range Finding Technique

Sakari Pieska, Anssi Makynen, Juha Kostamovaara, Martti Elsila, Riso Myllyla
Pages 379-386 (1989 Proceedings of the 6th ISARC, San Francisco, USA, ISSN 2413-5844)
Abstract:

Most of the positioning and navigation systems developed for construction machines have been focused on satisfying 2D navigation requirements. In this paper, a system is proposed for continuous and accurate tracking of a bulldozer or corresponding moving machine. Tracking is based on 3D coordinate determination using a time-of-flight laser range finder and angle encoders as a measuring head and optical reflectors attached to the machine. Tracking is accomplished by illuminating the cooperative target with an infrared emitting diode (IRED) or laser diode and focusing the reflected light on a surface of a position sensitive detector (PSD). Preliminary tests of the technique have been performed in a bulldozer’s real working environment at a cellulose mill and have been promising: an angle resolution of about 200µrad is achievable in a measurement range of up to 100-150 m using a spherical target constructed of highly reflective tape attached to the machine and a cw laser diode (8 mW) as the transmitter.

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