人の運転データ分析に基づく傾斜地適応の経路計画と大型ダンプトラックの自動運転の試行

抄録

In this paper, we design a cost for entering a slope in a positive direction and evaluate automated operation of dump trucks with a path planning method using that cost. We analyzed data from human-driven dump trucks. We use the tendencies identified by this analysis to design the cost of slopes. We conducted an automatic operation of a dump truck in a quarry to evaluate the inclination of the roll axis. Experimental results showed that when slope direction was taken into account, the maximum tilt of the roll axis was smaller than when conventional Hybrid A* was applied. As a result, it was confirmed that safe automatic operation is possible even at the quarry site with slopes.