クローラダンプ自動化のための設置型3DLiDARを用いた位置推定と経路追従

抄録

We aim to automate construction work with small construction vehicles in an environment where GNSS and SLAM can not be estimated. We have previously studied a localization system that uses 3DLiDAR in the environment to estimate the position of a construction vehicle, but have not used it for control. Thus, we installed a lever control device for a small crawler dump truck and conducted a field experiment using the actual vehicle for path following control. The results showed that it was possible to control the crawler dump with an error of less than approximately 0.1 m from the target path.