Introduction of Yamazumi Project-trial for autonomous heavy vehicles at construction site

The Yamazumi Project is the work of a joint research group developing automated facilities onboard heavy machines. They have built a miniature wheel loader or an articulated steering type vehicle as a test bed and have already several experiments on the test bed. They consider typical behavior of the wheel loader at quarry as a model task and formulate and decompose the task. Their decomposition of the task are into task planning, path planning, path tracking contort, position identification, scooping mechanics and 3D stereo vision systems. In this paper, outlines of the project is illustrated.