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Open-loop control experiments on driver assistance for crane forestry machines
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics. (Robotics and Control Lab)
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics. (Robotics and Control Lab)
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics. (Robotics and Control Lab)
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics. The Department of Engineering Cybernetics, Norwegian University of Science and Technology, Trondheim, Norway. (Robotics and Control Lab)
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2011 (English)In: 2011 IEEE International Conference on Robotics and Automation (ICRA), IEEE conference proceedings, 2011, 1797-1802 p.Conference paper, Published paper (Refereed)
Abstract [en]

A short term goal in the forest industry is semi-automation of existing machines for the tasks of logging and harvesting. One way to assist drivers is to provide a set of predefined trajectories that can be used repeatedly in the process. In recent years much effort has been directed to the design of control strategies and task planning as part of this solution. However, commercialization of such automatic schemes requires the installation of various sensing devices, computers and most of all a redesign of the machine itself, which is currently undesired by manufacturers. Here we present an approach of implementing predefined trajectories in an open-loop fashion, which avoids the complexity of sensor and computer integration. The experimental results are carried out on a commercial hydraulic crane to demonstrate that this solution is feasible in practice.

Place, publisher, year, edition, pages
IEEE conference proceedings, 2011. 1797-1802 p.
Series
IEEE International Conference on Robotics and Automation ICRA, ISSN 1050-4729
Keyword [en]
Trajectory generation, open-loop control, forestry machines
National Category
Robotics
Identifiers
URN: urn:nbn:se:umu:diva-51897DOI: 10.1109/ICRA.2011.5980266ISI: 000324383401004ISBN: 978-1-61284-385-8 (print)ISBN: 978-1-61284-386-5 (print)OAI: oai:DiVA.org:umu-51897DiVA: diva2:504591
Conference
IEEE International Conference on Robotics and Automation, May 9-13 2011, Shanghai, China
Available from: 2012-02-23 Created: 2012-02-03 Last updated: 2017-01-18Bibliographically approved

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Ortíz Morales, DanielWesterberg, SimonLa Hera, Pedro X.Mettin, UweFreidovich, LeonidShiriaev, Anton S.

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Ortíz Morales, DanielWesterberg, SimonLa Hera, Pedro X.Mettin, UweFreidovich, LeonidShiriaev, Anton S.
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Department of Applied Physics and Electronics
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CiteExportLink to record
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Citation style
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