Title :
Unmanned loading operation by autonomous wheel loader
Author :
KOYACHI, Noriho ; Sarata, Shigeru
Author_Institution :
Nat. Inst. of Adv. Ind. Sci. & Technol. (AIST), Tsukuba, Japan
Abstract :
Authors developed a real sized autonomous wheel loader ldquoYamazumi-4,rdquo and succeeded to execute the unmanned and autonomous task including excavating, scooping a pile, hauling and loading it on a dump truck, appearing in the mining work typically. This paper describes on the whole task control that consists of pile position measurement by stereo vision, path planning, path following control, pile excavating control, and loading control.
Keywords :
loading equipment; mining; path planning; position control; remotely operated vehicles; wheels; Yamazumi-4; dump truck; path following control; path planning; pile excavating control; pile hauling; pile loading control; pile position measurement; pile scooping; real sized autonomous wheel loader; stereo vision; task control; unmanned loading operation; Cameras; Control systems; Global Positioning System; Microcomputers; Path planning; Pressure control; Prototypes; Sensor systems; Velocity control; Wheels; Wheel loader; autonomous excavation; path following; task control;
Conference_Titel :
ICCAS-SICE, 2009
Conference_Location :
Fukuoka
Print_ISBN :
978-4-907764-34-0
Electronic_ISBN :
978-4-907764-33-3
