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Development of an Autonomous Path Tracking Forest Machine: a status report
Umeå University, Faculty of Science and Technology, Department of Computing Science.
Umeå University, Faculty of Science and Technology, Department of Computing Science.
Umeå University, Faculty of Science and Technology, Department of Computing Science.
Umeå University, Faculty of Science and Technology, Applied Physics and Electronics.
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2005 (English)Report (Other academic)
Abstract [en]

In many respects traditional automation in the forest-machine industry has reached an up- per limit, since the driver already has to deal with an excess of information and take too many decisions at a very high pace. To further automation still, introduction of semi-autonomous and autonomous functions are expected and considered necessary. This paper describes an ongoing project along these ideas. We describe the development of the hardware and software of an unmanned shuttle that shifts timber from the area of felling to the main roads for fur- ther transportation. A new path-tracking algorithm is introduced, and demonstrated as being superior to standard techniques, such as Follow-the-Carrot and Pure-Pursuit. To facilitate the research and development, a comprehensive software architecture for sensor and actuator interfacing is developed. Obstacle avoidance is accomplished by a new kind of radar, developed for and by the automotive industry. Localization is accomplished by a Kalman filter combining data from a Real-Time Kinematic Differential GPS/GLONASS and a gyro/compass. Tests conducted on a simulator and a small-scale robot show promising results. Tests on the real forest machine are ongoing, and will be completed before the end of 2005.

Place, publisher, year, edition, pages
2005. , 16 p.
Series
Report / UMINF, ISSN 0348-0542 ; 05.08
National Category
Computer Science
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:umu:diva-19897OAI: oai:DiVA.org:umu-19897DiVA: diva2:207704
Available from: 2009-10-29 Created: 2009-03-12 Last updated: 2009-12-15Bibliographically approved

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CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf