This thesis proposes a method of loading a hauler with an autonomous wheelloader efficiently and with high productivity in the short loading cycle. The mainidea behind the method is to raise the bucket with only the lift until the centerof gravity has reached the height that it will have just as the material will startto fall out of the bucket and on to the hauler. When the center of gravity hasreached that height both lift and tilt will be used simultaneously to keep thecenter of gravity at a constant height. This method is both faster and moreenergy efficient than loading a hauler using only one function at a time. The method has been successfully implemented and validated by loading ahauler with three buckets with the autonomous wheel loader that is developed byVolvo CE in Eskilstuna. / autonomous wheel loader VolvoCE

<p>This report contains the first step towards a complete, fully autonomous, robust bucket fill regulator for a wheel loader working with gravel materials.</p><p>The bucket fill procedure is the most critical part of the work cycle of a wheel loader. It is a task that has a long learning curve and also is weary, even for experienced drivers. The automation of it could therefore have a big impact on the cost effectiveness for wheel loaders and for the comfort of the drivers.</p><p>In this report, a suggestion for the complete solution of an automatic bucket fill regulator is presented. A regulator prototype is also constructed with a Volvo L120F as the base. The scope for the prototype is limited to one type of gravel material and quite optimal conditions for the wheel loader, but the complete solution is kept in mind throughout the synthesis. The constructed regulator is prepared for expansion, but the implementation and field testing is limited to the scope.</p>

This report contains the first step towards a complete, fully autonomous, robust bucket fill regulator for a wheel loader working with gravel materials. The bucket fill procedure is the most critical part of the work cycle of a wheel loader. It is a task that has a long learning curve and also is weary, even for experienced drivers. The automation of it could therefore have a big impact on the cost effectiveness for wheel loaders and for the comfort of the drivers. In this report, a suggestion for the complete solution of an automatic bucket fill regulator is presented. A regulator prototype is also constructed with a Volvo L120F as the base. The scope for the prototype is limited to one type of gravel material and quite optimal conditions for the wheel loader, but the complete solution is kept in mind throughout the synthesis. The constructed regulator is prepared for expansion, but the implementation and field testing is limited to the scope.