Increased Autonomy for Construction Equipment using Laser
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)
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.
IMU, EKF, vision
IdentifiersURN: urn:nbn:se:liu:diva-59910ISRN: LiTH-ISY-EX--10/4349--SEOAI: oai:DiVA.org:liu-59910DiVA: diva2:354085
2010-08-25, Glashuset, 15:00 (Swedish)
Granström, Karl, Ph.D. student
Schön, Thomas, Dr.