Autonomous Driving of Six-Wheeled Dump Truck with a Retrofitted Robot

Tomohiro Komatsu, Yota Konno, Seiga Kiribayashi, Keiji Nagatani, Takahiro Suzuki, Kazunori Ohno, Taro Suzuki, Naoto Miyamoto, Yukinori Shibata, Kimitaka Asano

研究成果: 書籍の章/レポート/Proceedings査読

5 被引用数 (Scopus)

抄録

In Japan, expectations for the automation of construction machines are increasing to solve the labor shortage in the construction industry. In this research, a robotization method by retrofitting a robot to conventional construction machines is introduced to lower the introduction barrier for regional construction companies. The target machine is a six-wheeled dump truck. With a retrofitted internal sensor unit and derived kinematics of six-wheeled articulated dump truck, a conventional Global Navigation Satellite System (GNSS)-based path tracking method was implemented on it. In addition, to ensure safety during operation, an emergency stop function was installed on the dump truck with three-dimensional Light Detection and Ranging (3D LiDAR). Initial experiments of forward and backward path tracking with an actual dump truck confirmed the validity of the method, and the maximum tracking error was 1 m. Further, in an emergency stop experiment, the dump truck detected the obstacle and stopped immediately after obstacle detection within the emergency-stop region, i.e., 25 m x 3 m in front of the dump truck. Based on the initial experiments, the authors concluded that even the retrofitted conventional dump truck could perform basic functions for autonomous driving, such as path tracking and emergency stop.

本文言語英語
ホスト出版物のタイトルSpringer Proceedings in Advanced Robotics
出版社Springer Science and Business Media B.V.
ページ59-72
ページ数14
DOI
出版ステータス出版済み - 2021

出版物シリーズ

名前Springer Proceedings in Advanced Robotics
16
ISSN(印刷版)2511-1256
ISSN(電子版)2511-1264

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