A Localisation and Navigation System for an Autonomous Wheel Loader
Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Autonomous vehicles are an emerging trend in robotics, seen in a vast range of applications and environments. Consequently, Volvo Construction Equipment endeavour to apply the concept of autonomous vehicles onto one of their main products. In the company’s Autonomous Machine project an autonomous wheel loader is being developed. As an ob jective given by the company; a demonstration proving the possibility of conducting a fully autonomous load and haul cycle should be performed.
Conducting such cycle requires the vehicle to be able to localise itself in its task space and navigate accordingly. In this Master’s Thesis, methods of solving those requirements are proposed and evaluated on a real wheel loader. The approach taken regarding localisation, is to apply sensor fusion, by extended Kalman ﬁltering, to the available sensors mounted on the vehicle, including; odometric sensors, a Global Positioning System receiver and an Inertial Measurement Unit.
Navigational control is provided through an interface developed, allowing high level software to command the vehicle by specifying drive paths. A path following controller is implemented and evaluated.
The main objective was successfully accomplished by integrating the developed localisation and navigational system with the existing system prior this thesis. A discussion of how to continue the development concludes the report; the addition of a continuous vision feedback is proposed as the next logical advancement.
Place, publisher, year, edition, pages
2011. , 78 p.
Autonomous Vehicle, Sensor Fusion, Kalman Filtering, Path Following
IdentifiersURN: urn:nbn:se:mdh:diva-12157OAI: oai:DiVA.org:mdh-12157DiVA: diva2:412390
Subject / course
Spampinato, Giacomo, Ph.D
Asplund, Lars, Professor