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Intelligent off-road vehicles umu.se\proj\ifor PowerPoint Presentation
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Intelligent off-road vehicles umu.se\proj\ifor

Intelligent off-road vehicles umu.se\proj\ifor

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Intelligent off-road vehicles umu.se\proj\ifor

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  1. Intelligent off-road vehicleswww.umu.se\proj\ifor

  2. What is IFOR ? • A initiavive for R&D for intelligent off-road technology • Initiated by the industry in 2001 • Collaboration between academia and industry Academia: Umeå University Swedish University of Agricultural Sciences Skogforsk Industry: Komatsu Forest Holmen Skog Sveaskog BAE Systems Hägglunds LKAB + network of other research centers and companies

  3. Topics • Motion planning, motion control for mechanical systems • Feedback design for hydraulically actuated cranes • Learning algorithms for robot behaviours • Field robotics - path tracking and localization techniques, sensor vision • Human-machine-interaction Equipment and techniques • Forest machines • Full sized in-door hydraulic crane • Portable prototyping hardware for feedback control • Sensors (dgps, laser radar, hydraulic pressure, stereo camera,…) Funding > 20 MSEK since 2001 Kempe Foundation, Sveaskog, Vinnova, Komatsu Forest, Sparbanksstiftelsen Norrland,… 1 prof, 4 PhD, 4 phD-students + collaborators at industry and univ Intelligent Off-Road Vehicles Short term: optimal interaction between operator-machine-environment Long term: unmanned off-road vehicles

  4. Projects Smart Crane Control • crane tip control • optimized motions – speed and stability • semi-automation, e.g. automatich loading • VR-enabled remote operation Autonomous navigation • unmanned transportation of logs • machine learning and sensor fusion • first prototype demonstrated in Dec 2005 Other project activities • Simulation of off-road vehicles • Recognizing logs in digital images • Sensor technology for mining industry

  5. Movies - Autonomous navigation www.cs.umu.se/research/ifor/IFORnav/videos.htm

  6. Movies - crane control Fast and stable Mouse-click control over the internet Over obstacle