TY - CHAP
T1 - Autonomous Driving of Six-Wheeled Dump Truck with a Retrofitted Robot
AU - Komatsu, Tomohiro
AU - Konno, Yota
AU - Kiribayashi, Seiga
AU - Nagatani, Keiji
AU - Suzuki, Takahiro
AU - Ohno, Kazunori
AU - Suzuki, Taro
AU - Miyamoto, Naoto
AU - Shibata, Yukinori
AU - Asano, Kimitaka
N1 - Publisher Copyright:
© 2021, Springer Nature Singapore Pte Ltd.
PY - 2021
Y1 - 2021
N2 - 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.
AB - 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.
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U2 - 10.1007/978-981-15-9460-1_5
DO - 10.1007/978-981-15-9460-1_5
M3 - Chapter
AN - SCOPUS:85107067948
T3 - Springer Proceedings in Advanced Robotics
SP - 59
EP - 72
BT - Springer Proceedings in Advanced Robotics
PB - Springer Science and Business Media B.V.
ER -