鉱山作業におけるホイールローダのための掬い取り点と積み下ろし点の決定

抄録

The authors have developed autonomous loading and unloading system by wheel loader. We propose an algorithm to decide both several scooping points and the optimized one loading point, and the several paths which starts from the different several scooping points and ends to the loading point. In the algorithm, the estimation of change of piles-shape are conducted. Those points and paths are decided to shorten the total length of transportation. The time costs for the algorithm are considered to be in time for the actual working time.