2020 Volume 38 Issue 9 Pages 872-881
In the construction industry of Japan, the number of labors, particularly experienced labors, is decreasing by decreasing birthrate and aging population. In addition, the number of death in the construction industry is one-third of the number in all industries. To resolve the above problems, autonomous construction system has been researched by various companies and research institutes. In this research, we aim at the realization of autonomous surface compression work by vibration roller with environment-installed sensors. Our approach is to install plural LiDARs (Light Detection and Ranging) in the work field and estimate the position of vibration roller. In this paper, we propose a position estimation method based on the environment-installed LiDARs, path planning for a vibration roller, and path tracking control of it. Furthermore, we conducted indoor experiments to confirm the proposed system using the original 1/10 vibration roller model and outdoor experiments to confirm the accuracy of position estimation method in real-time using an actual vibration roller.
