V shape path generation for loading operation by wheel loader

In this paper, as a part of research work on the autonomous loading operation by wheel loader at surface mines or construction working places, a method of path generation for wheel loader will be described. V shape path connecting between the scooping position and the loading position consists of clothoid curves and straight lines. Each length of line segments are optimized in path generation procedure. The scooping direction is determined based on the estimation of resistance force applied on the bucket during scooping motion, by using simplified shape model of pile and bucket. trajectory model. Proposed method. is installed. on the experimental model. Shape of the pile is measured by a stereo-vision system. For giving scooping position, scooping direction giving the least moment on the bucket is selected. By this method, appropriate path is generated.