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Increased Autonomy for Construction Equipment using Laser
Linköping University, Department of Electrical Engineering, Automatic Control.
2010 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesisAlternative title
Ökad automation för bygg- och anläggningsfordon med hjälp av laser scanner (Swedish)
Abstract [en]

At working sites all around monotonic tasks are performed. If one were able

to automatize these kinds of tasks there would be a large economical profit to

collect. Volvo CE are in the process of developing an autonomous wheel loader,

to perform these types of monotonic, uniform tasks. The project is intended to

be performed mainly be thesis workers. This report is the eighth thesis in this

project. Earlier work has made the loader able to see a pile using a laser scanner.

The machine can also see and fill a hauler. The usage of the laser scanner can

only be made while the loader is standing still. The aim of this thesis work has

been to make the loader able to scan its environment while it is moving. To do

this an inertial measurement unit has been used for keeping track of the scanners

orientation during a scan. The work of this thesis has resulted in a working set-up

on the machine, and a robust framework for future work.


Place, publisher, year, edition, pages
2010. , 63 p.
Keyword [en]
IMU, EKF, vision
National Category
Control Engineering
URN: urn:nbn:se:liu:diva-59910ISRN: LiTH-ISY-EX--10/4349--SEOAI: diva2:354085
2010-08-25, Glashuset, 15:00 (Swedish)
Available from: 2010-09-30 Created: 2010-09-29 Last updated: 2010-09-30Bibliographically approved

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