Title :
Introduction of Yamazumi Project-trial for autonomous heavy vehicles at construction site
Author :
Tsubouchi, Takashi ; Sarata, Shigeru ; Osumi, Hisashi ; Kurisu, Masamitsu
Author_Institution :
Inst. of Eng. Mech. & Syst., Univ. of Tsukuba, Japan
Abstract :
The Yamazumi Project is the work of a joint research group developing automated facilities onboard heavy machines. They have built a miniature wheel loader or an articulated steering type vehicle as a test bed and have already several experiments on the test bed. They consider typical behavior of the wheel loader at quarry as a model task and formulate and decompose the task. Their decomposition of the task are into task planning, path planning, path tracking contort, position identification, scooping mechanics and 3D stereo vision systems. In this paper, outlines of the project is illustrated.
Keywords :
construction industry; mobile robots; path planning; robot vision; stereo image processing; vehicles; 3D stereo vision systems; Yamazumi Project; articulated steering type vehicle; automated facilities; autonomous heavy vehicles; construction site; miniature wheel loader; path planning; path tracking contort; position identification; quarry; scooping mechanics; task planning; Crawlers; Earth; Mobile robots; Path planning; Remotely operated vehicles; Soil; Stereo vision; Testing; Volcanoes; Wheels;
Conference_Titel :
Industrial Technology, 2002. IEEE ICIT '02. 2002 IEEE International Conference on
Print_ISBN :
0-7803-7657-9
DOI :
10.1109/ICIT.2002.1189950