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Unmanned Loading Operation By Autonomous Wheel Loader
Noriho Koyachi,Shigeru Sarata 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
Authors developed a real sized autonomous wheel loader “Yamazumi-4,” and succeeded to execute theunmanned 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 positionmeasurement by stereo vision, path planning, path following control, pile excavating control, and loading control.
Path Planning of Wheel Loader type Robot for Scooping and Loading Operation by Genetic Algorithm
Toshinobu Takei,Kentaro Ichikawa,Kazuya Okawa,Shigeru Sarata,Takashi Tsubouchi,Akira Torige 제어로봇시스템학회 2013 제어로봇시스템학회 국제학술대회 논문집 Vol.2013 No.10
There is a demand of mining automation by heavy equipment in an open mine. Authors aim to automization of motion for wheel loader in scooping and loading operation. In this paper, we applied the optimization method by Genetic Algorithm to the path planning for the wheel loader on scooping and loading operation. We showed the quasi-optimized path and demonstrated by the miniature wheel loader robot.