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Intelligent off-road vehiclesIntelligent off-road vehicleswww.umu.se\proj\iforwww.umu.se\proj\ifor

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• A initiavive for R&D for intelligent off-road technology A initiavive for R&D for intelligent off-road technology • Initiated by the industry in 2001Initiated by the industry in 2001• Collaboration between academia and industryCollaboration between academia and industry

What is IFOR ?What is IFOR ?

Academia:Academia:Umeå UniversityUmeå UniversitySwedish University of Agricultural Swedish University of Agricultural

SciencesSciencesSkogforskSkogforsk

Industry:Industry:Komatsu ForestKomatsu ForestHolmen SkogHolmen SkogSveaskogSveaskogBAE Systems HägglundsBAE Systems HägglundsLKABLKAB+ network of other research centers and + network of other research centers and

companiescompanies

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TopicsTopicsMotion planning, motion control for mechanical Motion planning, motion control for mechanical systemssystemsFeedback design for hydraulically actuated Feedback design for hydraulically actuated cranescranesLearning algorithms for robot behavioursLearning algorithms for robot behavioursField robotics - path tracking and localization Field robotics - path tracking and localization techniques, sensor visiontechniques, sensor visionHuman-machine-interactionHuman-machine-interaction

Equipment and techniquesEquipment and techniquesForest machines Forest machines Full sized in-door hydraulic craneFull sized in-door hydraulic cranePortable prototyping hardware for feedback Portable prototyping hardware for feedback control control Sensors (dgps, laser radar, hydraulic pressure, Sensors (dgps, laser radar, hydraulic pressure, stereo camera,…) stereo camera,…)

FundingFunding> 20 MSEK since 2001> 20 MSEK since 2001Kempe Foundation, Sveaskog, Vinnova,Kempe Foundation, Sveaskog, Vinnova,Komatsu Forest, Sparbanksstiftelsen Norrland,…Komatsu Forest, Sparbanksstiftelsen Norrland,…1 prof, 4 PhD, 4 phD-students + collaborators at industry and 1 prof, 4 PhD, 4 phD-students + collaborators at industry and

univuniv

Intelligent Off-Road Vehicles Short term: optimal interaction between operator-machine-environmentLong term: unmanned off-road vehicles

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ProjectsProjects

Smart Crane ControlSmart Crane Control- crane tip control- optimized motions – speed and stability- semi-automation, e.g. automatich loading- VR-enabled remote operation

Autonomous navigationAutonomous navigation- unmanned transportation of logs- machine learning and sensor fusion- first prototype demonstrated in Dec 2005

Other project activitiesOther project activities- Simulation of off-road vehicles- Recognizing logs in digital images- Sensor technology for mining industry

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Movies - Autonomous navigation

www.cs.umu.se/research/ifor/IFORnav/videos.htmwww.cs.umu.se/research/ifor/IFORnav/videos.htm

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Movies - crane control

Mouse-click control over the internet Over obstacle

Fast and stable Fast and stable