1A2-F05 Development of Navigation System for Pile Driving Machine in Construction : Part 1; Position Measurement and Real Time Expression Using Laser Range Finder(Robotics and Mechatronics in Construction and Demolition)

Abstract

This paper describes the development of the high accuracy and low cost position measurement system using Laser Range Finder (LRF) and its application to the navigation system of pile driving machine in construction. To detect the machine position and rotation angle, the center of four cylindrical objects that were installed around machine was measured by LRF and the posture of machine was geometrically calculated from the relationships of distance between the objects. The centers of object were estimated by the maximum likelihood estimation method. In this paper, the algorithm of position measurement method for navigation system and its calculation process with cylindrical objects and LRF, and the application results of its navigation system were verified in constriction site.