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Path tracking in forest terrain by an autonomous forwarder

Ringdahl, Ola and Lindroos, Ola and Hellström, Thomas and Bergström, Dan and Athanassiadis, Dimitris and Nordfjell, Tomas (2011). Path tracking in forest terrain by an autonomous forwarder. Scandinavian journal of forest research. 26:4, 350-359
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Official URL: http://dx.doi.org/10.1080/02827581.2011.566889

Abstract

Autonomous navigation in forest terrain, where operation paths are rarely straight or flat and obstacles are common, is challenging. This paper evaluates a system designed to autonomously follow previously demonstrated paths in a forest environment without loading/unloading timber, a pre-step in the development of fully autonomous forwarders. The system consisted of a forwarder equipped with a high-precision global positioning system to measure the vehicle’s heading and position. A gyro was used to compensate for the influence of the vehicle’s roll and pitch. On an ordinary clear-cut forest area with numerous stumps, the vehicle was able to follow two different tracks, three times each at a speed of 1 m s-1, with a mean path tracking error of 6 and 7 cm, respectively. The error never exceeded 35 cm, and in 90% of the observations it was less than 14 and 15 cm, respectively. This accuracy is well within the necessary tolerance for forestry operations. In fact, a human operator would probably have a hard time following the track more accurately. Hence, the developed systems function satis-factorily when using previously demonstrated paths. However, further research on planning new paths in unknown unstructured terrain and on loading/unloading is required before timber transports can be fully automated.

Authors/Creators:Ringdahl, Ola and Lindroos, Ola and Hellström, Thomas and Bergström, Dan and Athanassiadis, Dimitris and Nordfjell, Tomas
Title:Path tracking in forest terrain by an autonomous forwarder
Series/Journal:Scandinavian journal of forest research (0282-7581)
Year of publishing :2011
Volume:26
Number:4
Page range:350-359
Publisher:Taylor & Francis
ISSN:0282-7581
Language:English
Additional Information:Alberto Gappmayer Biscaia is thanked for substantial contributions in the field test. The study was financed by Kempe foundation, VINNOVA and the Swedish University of Agricultural Sciences. Thanks to Komatsu Forest for providing a forest machine.
Publication Type:Journal article
Refereed:Yes
Article category:Scientific peer reviewed
Version:Accepted version
Full Text Status:Public
Subjects:Obsolete subject words > TECHNOLOGY > Information technology > Automatic control
Obsolete subject words > FORESTRY, AGRICULTURAL SCIENCES and LANDSCAPE PLANNING > Area technology > Forest engineering
(A) Swedish standard research categories 2011 > 2 Engineering and Technology > 202 Electrical Engineering, Electronic Engineering, Information Engineering > Robotics
(A) Swedish standard research categories 2011 > 2 Engineering and Technology > 202 Electrical Engineering, Electronic Engineering, Information Engineering > Control Engineering
(A) Swedish standard research categories 2011 > 4 Agricultural Sciences > 401 Agricultural, Forestry and Fisheries > Forest Science
Obsolete subject words > TECHNOLOGY > Information technology > Computer science > Computer science
Obsolete subject words > TECHNOLOGY > Information technology > Computer science > Software engineering
Keywords:Robotics, autonomous vehicles, automation
URN:NBN:urn:nbn:se:slu:epsilon-e-268
Permanent URL:
http://urn.kb.se/resolve?urn=urn:nbn:se:slu:epsilon-e-268
Additional ID:
Type of IDID
DOI10.1080/02827581.2011.566889
ID Code:8281
Department:(S) > Dept. of Forest Resource Management
(NL, NJ) > Dept. of Forest Resource Management
Deposited By: Ola Lindroos
Deposited On:18 Nov 2011 14:06
Metadata Last Modified:02 Dec 2014 10:46

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