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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,...
The authors have been conducting research on an autonomous system for loading operation by wheel loader. Experimental results at a field test site using full-size model (length: 6.1m) will be described in this paper. Basic structure of system consists of three sub systems: measuring and modeling of environment, task planning and motion control. The experimental operation includes four cycles of scooping...
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