Development of prototype of a unmanned transport robot for transport of construction materials

Bo Hyun Yu, Dong Hyung Kim, Byung Gab Yu, Seung Yeol Lee, Chang Soo Han

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

2 Scopus citations

Abstract

This paper presents the development of prototype Unmanned Transport Robot for application at constructic sites. The robot transports construction materials following a pre-configured reference path. Hardware configuration of the Unmanned Transport Robot may be considered in three parts: the tracked vehicle system, the control system, and the multi-sensor system. The control strategy of unmanned transport consists of sensor fusion with an indirect kalman filter for localization, path-tracking, and obstacle avoidance using ultra sonic sensors for safety on the construction site Then, sensor fusion will combine odornetry from encoders and heading angle from the IMU information to guide the robot along the reference path. Finally, we describe experimental results and compare and contrast the use of odometrt from encoders alone, and together with heading angle data from the IMU.

Original languageEnglish
Title of host publication2008 International Conference on Control, Automation and Systems, ICCAS 2008
Pages448-452
Number of pages5
DOIs
StatePublished - 2008
Event2008 International Conference on Control, Automation and Systems, ICCAS 2008 - Seoul, Korea, Republic of
Duration: 14 Oct 200817 Oct 2008

Publication series

Name2008 International Conference on Control, Automation and Systems, ICCAS 2008

Conference

Conference2008 International Conference on Control, Automation and Systems, ICCAS 2008
Country/TerritoryKorea, Republic of
CitySeoul
Period14/10/0817/10/08

Keywords

  • Construction site
  • Heading angle
  • Sensor fusion
  • Transport material
  • UTR(Unmanned Transport Robot)

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