大型ダンプトラックの土砂積載・積み下ろしのための切り返しを含む経路の自動生成

抄録

Development of autonomous construction vehicles is needed because of the shortage and aging of skilled workers. Our purpose is to realize motions of loading and unloading sand and gravel by an autonomous dump truck. This paper proposes a path with two waypoints in front of the goal to realize a switchback. As a result, an autonomous dump truck can go to the turning position first, and then go back to the goal while keeping its wheels straight. We achieved to reproduce the motion of a dump truck including switchback by the proposed method.