<p>At working sites all around monotonic tasks are performed. If one were able</p><p>to automatize these kinds of tasks there would be a large economical profit to</p><p>collect. Volvo CE are in the process of developing an autonomous wheel loader,</p><p>to perform these types of monotonic, uniform tasks. The project is intended to</p><p>be performed mainly be thesis workers. This report is the eighth thesis in this</p><p>project. Earlier work has made the loader able to see a pile using a laser scanner.</p><p>The machine can also see and fill a hauler. The usage of the laser scanner can</p><p>only be made while the loader is standing still. The aim of this thesis work has</p><p>been to make the loader able to scan its environment while it is moving. To do</p><p>this an inertial measurement unit has been used for keeping track of the scanners</p><p>orientation during a scan. The work of this thesis has resulted in a working set-up</p><p>on the machine, and a robust framework for future work.</p><p> </p>
| Identifer | oai:union.ndltd.org:UPSALLA/oai:DiVA.org:liu-59910 |
| Date | January 2010 |
| Creators | Andersson, Tobias |
| Publisher | Linköping University, Automatic Control |
| Source Sets | DiVA Archive at Upsalla University |
| Language | English |
| Detected Language | English |
| Type | Student thesis, text |
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