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Autonomous Hauler Loading
Mälardalen University, School of Innovation, Design and Engineering.
2013 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

In this thesis we have designed and implemented components for an autonomoussystem for material re handling in the construction business, an autonomouswheel loader. Our achievements was at the end of this thesis demonstratedon a prototype machine. Our main contribution to the autonomous wheelloader is a new software platform design, with this new platform future expansionsis made easier. We have also developed several software components forthis platform that solves tasks required for autonomous operation with the wheelloader the most important listed below.ˆ Mission state machineˆ Vision algorithm, detect and parametrizes a load receiver (in this thesis ahauler) from LiDAR scanner dataˆ Translation algorithm, translate the wheel loader to a dynamic target andthere empty the payloadLow level development on the vision system of the autonomous wheel loaderwas also required to bee able to reach the target of the thesis. We have implementeda communication driver and a API for a LiDAR scanner and a API for aservo controller. A mechanical xture have been designed in CAD, manufacturingof this xture was achieved using a CNC mill.

Abstract [sv]

I det här examensarbetet har designat och implementerat komponenter till ettsystem för automatiserad materialhantering i anläggningsbranschen, en autonomhjullastare. Examensarbetet avslutas med en uppvisning av den prototyp somvi implementerat våra komponenter på. Vårt främsta bidrag till systemet är enny mjukvarudesign, med det nya upplägget har det blivit enklare att integreranya komponenter i systemet. Förutom plattformen så har vi tagit fram komponenteroch lösningar för era delsystem som krävs för autonom operation medhjullastaren, dessa har vi listat några av dessa nedan.ˆ Tillståndsmaskin för hantering av övergripande uppdrag.ˆ Bildbehandlingsalgoritmer, som utifrån LiDAR data parametriserar lastmottagaren(i detta examensarbete en dumper)ˆ Dynamisk translationsalgoritm, denna används för att genomföra en tömningssekvenspå en godtycklig koordinat.Mycket jobb har även lagts på utveckling av underliggande system och funktionalitet,bland annat har vi implementerat kommunikations protokoll och APIför en LiDAR skanner samt ett API för en servo controller. Vi har också konstrueraten mekanisk vagga för LiDAR skannern och servomotorn i CAD, dennakonstruktion tillverkade vi senare i en CNC fräs.

Place, publisher, year, edition, pages
2013. , 91 p.
National Category
Robotics
Identifiers
URN: urn:nbn:se:mdh:diva-21921OAI: oai:DiVA.org:mdh-21921DiVA: diva2:655735
Subject / course
Computer Science
Supervisors
Examiners
Available from: 2013-11-25 Created: 2013-10-13 Last updated: 2013-11-25Bibliographically approved

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