後付け運転装置を用いた自動走行ダンプトラックの砕石現場への適用

抄録

This paper describes autonomous driving of dump truck using a retrofit control device and its field application at a quarry site. The retrofit control system is installed to an unconventional dump truck so that the authors considered the installation position of the equipment on the chassis. In addition, the authors newly developed a measurement device of steering angle and bed angle. Experimental results show that the dump truck can autonomously drive in the actual quarry site including winded narrow path and slopes.