Approach Path Generation to Scooping Position for Wheel Loader

Our group developed a method of path generation for wheel loaders as part of our ongoing research on the autonomous loading operation of wheel loaders at surface mines and construction sites. The path connecting the present vehicle position and scooping position consists of clothoid curves and straight lines. Each line segment is optimized in a path generation procedure. A simplified model of the pile shape and bucket trajectory is used to determine the scooping direction based on an estimation of the resistance force applied on the bucket during the scooping motion. We applied the proposed method in an experimental model. A stereo-vision system was used to measure the shape of the pile and the scooping direction that imposed the least moment on the bucket was selected as the scooping position. This method generates an appropriate path for the wheel loader.