Summary
In this paper, as a part of research work on the autonomous loading operation by wheel loader at surface mines or construction working places, a method of path generation for wheel loader will be described. V shape path connecting between the scooping position and the loading position consists of clothoid curves and straight lines. Each length of line segments are optimized in path generation procedure. The scooping direction is determined based on the estimation of resistance force applied on the bucket during scooping motion, by using simplified shape model of pile and bucket trajectory model. Proposed method is installed on the experimental model. Shape of the pile is measured by a stereo-vision system. For giving scooping position, scooping direction giving the least moment on the bucket is selected. By this method, appropriate path is generated.
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References
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© 2006 Springer-Verlag Berlin Heidelberg
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Sarata, S., Weeramhaeng, Y., Horiguchi, A., Tsubouchi, T. (2006). V Shape Path Generation for Loading Operation by Wheel Loader. In: Corke, P., Sukkariah, S. (eds) Field and Service Robotics. Springer Tracts in Advanced Robotics, vol 25. Springer, Berlin, Heidelberg . https://doi.org/10.1007/978-3-540-33453-8_49
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DOI: https://doi.org/10.1007/978-3-540-33453-8_49
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-33452-1
Online ISBN: 978-3-540-33453-8
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