Autonomous vehicles are an emerging trend in robotics, seen in a vast range of applications and environments. Consequently, Volvo Construction Equipment endeavour to apply the concept of autonomous vehicles onto one of their main products. In the company’s Autonomous Machine project an autonomous wheel loader is being developed. As an ob jective given by the company; a demonstration proving the possibility of conducting a fully autonomous load and haul cycle should be performed. Conducting such cycle requires the vehicle to be able to localise itself in its task space and navigate accordingly. In this Master’s Thesis, methods of solving those requirements are proposed and evaluated on a real wheel loader. The approach taken regarding localisation, is to apply sensor fusion, by extended Kalman filtering, to the available sensors mounted on the vehicle, including; odometric sensors, a Global Positioning System receiver and an Inertial Measurement Unit. Navigational control is provided through an interface developed, allowing high level software to command the vehicle by specifying drive paths. A path following controller is implemented and evaluated. The main objective was successfully accomplished by integrating the developed localisation and navigational system with the existing system prior this thesis. A discussion of how to continue the development concludes the report; the addition of a continuous vision feedback is proposed as the next logical advancement.


    Access

    Download


    Export, share and cite



    Title :

    A Localisation and Navigation System for an Autonomous Wheel Loader


    Contributors:

    Publication date :

    2011-01-01


    Type of media :

    Theses


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629



    Autonomous Wheel Loader Simulator

    Navas Medrano, Samuel | BASE | 2014

    Free access

    WHEEL LOADER, METHOD FOR CONTROLLING WHEEL LOADER, AND SYSTEM FOR CONTROLLING WHEEL LOADER

    ENOMOTO RYOTA / IKARI MASANORI / YAJIMA KENTARO et al. | European Patent Office | 2019

    Free access

    WHEEL LOADER

    YOSHIHARA NAOHIRO / SAKAMOTO KENTARO | European Patent Office | 2019

    Free access

    WHEEL LOADER

    TANAKA SHINICHIRO / KODERA HIROYASU | European Patent Office | 2019

    Free access

    WHEEL LOADER

    NAITO MAKOTO | European Patent Office | 2016

    Free access