Increased Autonomy for Construction Equipment using Laser

• Main Author: Andersson, Tobias
• Format: Others
• Language: English
• Published: Linköpings universitet, Reglerteknik 2010
• Subjects: IMU; EKF; vision; Automatic control; Reglerteknik
• Online Access: http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-59910

At working sites all around monotonic tasks are performed. If one were able to automatize these kinds of tasks there would be a large economical profit to collect. Volvo CE are in the process of developing an autonomous wheel loader, to perform these types of monotonic, uniform tasks. The project is intended to be performed mainly be thesis workers. This report is the eighth thesis in this project. Earlier work has made the loader able to see a pile using a laser scanner. The machine can also see and fill a hauler. The usage of the laser scanner can only be made while the loader is standing still. The aim of this thesis work has been to make the loader able to scan its environment while it is moving. To do this an inertial measurement unit has been used for keeping track of the scanners orientation during a scan. The work of this thesis has resulted in a working set-up on the machine, and a robust framework for future work.