Simultaneous determination of optimized one unloading point and plural scooping points for wheel loader

The authors have developed the autonomous loading system by wheel loader. In this paper, we propose the path planning algorithm to optimally place both one unloading point and a set of several scooping points corresponding to that point. For simultaneously determining the set and streamlining the whole series of operations, this algorithm include the step of estimating the shape of rock piles collapsing by scooping works.