Development of an Autonomous Forest Machine for Path Tracking
2006 (English)In: Field and Service Robotics: Results of the 5th International Conference, New York: Springer , 2006, 603-614 p.Conference paper (Refereed)
In many respects traditional automation in the forest-machine industry hasreached an upper limit, since the driver already has to deal with an excess ofinformation and take too many decisions at a very high pace. To furtherautomation still, introduction of semi-autonomous and autonomous functions areexpected and considered necessary. This paper describes an ongoing projectalong these ideas. We describe the development of the hardware and software ofan unmanned shuttle that shifts timber from the area of felling to the mainroads for further transportation. A new path-tracking algorithm is introduced,and demonstrated as being superior to standard techniques, such as Follow theCarrot and Pure Pursuit. To facilitate the research and development, acomprehensive software architecture for sensor and actuator interfacing isdeveloped. Obstacle avoidance is accomplished by a new kind of radar,developed for and by the automotive industry. Localization is accomplished by combining data from a Real-Time Kinematic DifferentialGPS/GLONASS and odometry. Tests conducted on a simulator and asmall-scale robot show promising results. Tests on the real forest machine areongoing.
Place, publisher, year, edition, pages
New York: Springer , 2006. 603-614 p.
, Springer Tracts in Advanced Robotics, ISSN 1610-7438 ; 25
Research subject Computer Science
IdentifiersURN: urn:nbn:se:umu:diva-15891DOI: 10.1007/978-3-540-33453-8_50ISBN: 3-540-33452-1OAI: oai:DiVA.org:umu-15891DiVA: diva2:155563