PATH PLANNING FOR LOADING OPERATIONS BY WHEEL LOADERS BASED ON POSITION CONTROL OF THE BUCKET
A wheel loader is one of the main loading machines in open pit mines. The authors have been conducting research and development on autonomous operation of loading by a wheel loader. The most common loading method by a wheel loader is the “V shape” path method. The loading operation consists of cycles of scooping from the pile, traveling to the dump truck, loading on the dump truck and return traveling to the scooping point for the next cycle. The traveling path includes a switchback in the middle of the path. The moving direction of the loader is changed at the switchback point. From observation of V shape path loading operations by experienced human operators, it seems that they control the bucket position between the scooping point and loading point on a shorter path for higher productivity.
Loading; Terminals; Planning; Operation; Control; Controls; Simulation; Simulations; Simulation;