Autonomous Driving of Six-Wheeled Dump Truck with Retrofitted Robot (Mar. 2019)
A robotization method by retrofitting a robot to conventional construction machines is introduced to lower the introduction barrier for regional construction companies. The target machine is a six-wheeled dump truck. A conventional Global Navigation Satellite System (GNSS)-based path tracking method was implemented on it. Also, to ensure safety during operation, an emergency stop function was installed on the dump truck with three-dimensional Light Detection and Ranging (3D LiDAR). Based on the initial experiments, the authors concluded that even the retrofitted conventional dump truck could perform basic functions for autonomous driving, such as path tracking and emergency stop.