2A1-D07 Motion Planning for Wheel-Loader : Comparison of Motion Planning Algorithms include K-Turn Motion(Wheeled Robot/Tracked Vehicle (1))

摘要

Recently, the autonomous operating system is required in the mining industry because of the severe environment and decrease of operators. We develop the above-mentioned system for embarking of ore by Wheel-Loader. In this report, we establish a Motion Planning Algorithms for Wheel-Loaders through the comparison of four different planning methods. One of them is Continuous-Curvature Paths, the others are Genetic Algorithm and two different algorithms based Rapidly-Exploring Random Trees.