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JRM Vol.35 No.5 pp. 1251-1266
doi: 10.20965/jrm.2023.p1251
(2023)

Paper:

Demonstration of Snow Removal Work by Wheel Loader in an Environment Surrounded by Obstacles

Hiroto Murayama*, Tomohito Kawabe*, Masahiro Inagawa* ORCID Icon, Keiichi Yoshizawa*, Munehiro Ishibashi*, Toshinobu Takei**,† ORCID Icon, and Keiji Nagatani*** ORCID Icon

*Hirosaki University
3 Bunkyo-cho, Hirosaki-city, Aomori 036-8561, Japan

**Seikei University
3-3-1 Kichijoji, Kitamachi, Musashino-city, Tokyo 180-0001, Japan

Corresponding author

***The University of Tokyo
7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan

Received:
March 20, 2023
Accepted:
June 20, 2023
Published:
October 20, 2023
Keywords:
wheel loader, autonomous driving, snow removal work, obstacle environment
Abstract

Snow removal work using construction equipment faces problems such as a shortage of skilled operators owing to the declining birthrate and aging population, work in dangerous areas, and accidents caused by a lack of concentration during long work hours. To improve the working environment, research and development of automation of construction equipment are actively conducted. Therefore, in this study, we aim to generate a driving path for wheel loaders for snow removal work in a work environment surrounded by obstacles, such as walls and fences. Furthermore, the proposed method considers the changing shape of the snow piles during the removal. We experimentally verified that snow removal could be performed using an actual wheel loader on the route generated by the proposed simulation.

Autonomous snow removal work in the snow field

Autonomous snow removal work in the snow field

Cite this article as:
H. Murayama, T. Kawabe, M. Inagawa, K. Yoshizawa, M. Ishibashi, T. Takei, and K. Nagatani, “Demonstration of Snow Removal Work by Wheel Loader in an Environment Surrounded by Obstacles,” J. Robot. Mechatron., Vol.35 No.5, pp. 1251-1266, 2023.
Data files:
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