Unmanned loading operation by autonomous wheel loader

Authors developed a real sized autonomous wheel loader ldquoYamazumi-4,rdquo and succeeded to execute the unmanned and autonomous task including excavating, scooping a pile, hauling and loading it on a dump truck, appearing in the mining work typically. This paper describes on the whole task control that consists of pile position measurement by stereo vision, path planning, path following control, pile excavating control, and loading control.