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JRM Vol.36 No.1 pp. 211-228
doi: 10.20965/jrm.2024.p0211
(2024)

Paper:

Demonstration of Autonomous Driving Control for a Retrofitted Wheel Loader

Tomohito Kawabe*, Masahiro Inagawa* ORCID Icon, Toshinobu Takei**,† ORCID Icon, Hiroto Murayama*, Keiichi Yoshizawa*, Munehiro Ishibashi*, 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 180-8633, Japan

Corresponding author

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

Received:
July 24, 2023
Accepted:
October 13, 2023
Published:
February 20, 2024
Keywords:
construction machine, retrofitted vehicle, wheel loader, automatic driving control, dead time compensation
Abstract

Most research on automating gravel pile transport using wheel loaders has been performed primarily through simulations. Thus, studies should evaluate the usefulness of automatic gravel pile transportation by demonstrating it with an actual wheel loader. This study demonstrates automatic driving control using a retrofitted 3-ton wheel loader for gravel pile transportation. The driving model of a retrofitted wheel loader, in which multiple control systems are interlocked, is considered a simple control model with one input and one output for the pedal and vehicle velocity as well as for the steering wheel and steering angular velocity. In this study, we propose a simple and practical method for constructing a driving model via simple response analysis using an actual machine by constructing a feedforward control model based on control input/output using step responses. In this study, feedforward control was applied to the translation of the vehicle, which has a large dead time. By generating the path following the target point from the vehicle predicted position after the dead time from the driving model, the appropriate control input value calculation considering the dead time was performed. By applying the proposed method to a retrofitted wheel loader in a real environment and evaluating the control performance through control experiments, the effectiveness of the proposed method in practice was demonstrated.

Automation of actual wheel loader in the field

Automation of actual wheel loader in the field

Cite this article as:
T. Kawabe, M. Inagawa, T. Takei, H. Murayama, K. Yoshizawa, M. Ishibashi, and K. Nagatani, “Demonstration of Autonomous Driving Control for a Retrofitted Wheel Loader,” J. Robot. Mechatron., Vol.36 No.1, pp. 211-228, 2024.
Data files:
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Last updated on Apr. 05, 2024