Umeå universitets logga

umu.sePublikationer
Ändra sökning
RefereraExporteraLänk till posten
Permanent länk

Direktlänk
Referera
Referensformat
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Annat format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annat språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf
Path tracking and localization techniques for forest environment.
Umeå universitet.
Umeå universitet.
2006 (Engelska)Ingår i: Proceedings of the Israel Conference on Robotics (ICR06), 2006Konferensbidrag, Publicerat paper (Övrigt vetenskapligt)
Abstract [en]

This paper describes an ongoing design and development project of an autonomous patht-racking forest machine. The work is part of a long-term vision in the forest industry of developing an unmanned shuttle that transports timber from the felling area to the main roads for further transportation. The developed prototype system has two modes of operation: Path Learning, in which the human operator drives or remote controls the vehicle along a selected path back and forth from the area of felling to the transportation road. In this phase, position, speed, heading, and the operator’s commands are recorded in the vehicle computer. When the vehicle has been loaded with timber the operator activates Path Tracking mode, which means that the vehicle autonomously drives along the recorded path to the transportation road. A new path-tracking algorithm is introduced, and is demonstrated as superior to standard algorithms, such as Follow the Carrot and Pure Pursuit. This is accomplished by using the recorded data from the path-learning phase. By using the recorded steering angle, the curvature of the path is automatically included in the final steering command. Localization is accomplished by fusing data from Real-Time Kinematic Differential GPS/GLONASS, gyro, wheel odometry, and laser odometry. The laser odometry algorithm works by using consecutive scans to estimate the pose change (position and heading). A search is conducted in pose space to find the optimal fit between the two scans. Test results for path tracking and localization accuracy from runs conducted on the full-sized forest machine are presented.

Ort, förlag, år, upplaga, sidor
2006.
Identifikatorer
URN: urn:nbn:se:umu:diva-15890OAI: oai:DiVA.org:umu-15890DiVA, id: diva2:155562
Tillgänglig från: 2009-12-22 Skapad: 2007-08-03 Senast uppdaterad: 2018-06-09Bibliografiskt granskad

Open Access i DiVA

fulltext(176 kB)314 nedladdningar
Filinformation
Filnamn FULLTEXT01.pdfFilstorlek 176 kBChecksumma SHA-512
37b78b8b81396d934e18a03bb0e9cc89d334056cb084ff4faf2d822cae1279e4386325203ee688462a38188905c3fbbb7c17058ee55915c9f6f35a1b4e713e78
Typ fulltextMimetyp application/pdf

Person

Hellström, ThomasRingdahl, Ola

Sök vidare i DiVA

Av författaren/redaktören
Hellström, ThomasRingdahl, Ola
Av organisationen
Umeå universitet

Sök vidare utanför DiVA

GoogleGoogle Scholar
Totalt: 316 nedladdningar
Antalet nedladdningar är summan av nedladdningar för alla fulltexter. Det kan inkludera t.ex tidigare versioner som nu inte längre är tillgängliga.

urn-nbn

Altmetricpoäng

urn-nbn
Totalt: 1678 träffar
RefereraExporteraLänk till posten
Permanent länk

Direktlänk
Referera
Referensformat
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Annat format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annat språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf