An outline of the developed system for autonomous loading operation by wheel loader will be described. The system consists of three subsystems: (1) Environment measuring and modeling, (2) Planning and (3) Motion control. The environment measuring subsystem measures 3D shape of the environment by stereo-vision system. The shape of the pile is converted into the environment models. The planning subsystem determines the position and direction of scooping on the pile based on the environment models. It generates the V shape path between the scooping point and the loading point as well. The motion control subsystem controls actuators on the loader based on the reference values from the planning subsystem in traveling on the V shape. However the motion of the bucket at scooping is controlled based on the resistance force applied on the bucket during scooping motion. The developed system is installed on an experimental small size scale model in lab and on a real wheel loader in the experimental field.

In order to search and rescue the victims in rubble effective/): a 3-0 mop of the rubble is required. As a part of the national project of rescue mbot qstem, we are inuestigating a method for constructing a 3-0 map of rubble by teleoperated mobile mbots. We are also planning to build an intuitive user interface for teleoperating robots and navigating in a virtualized rubble modelusing the obtained 3-0 model. In this paper; some preliminary research results are intmduced. We did some design studies of laser rangejnders rhat con be mounted on U mobile mbot ond can get the range datu of the rubble amund the mbot. Then, we formulated a 3 0 S U M (Simultaneous Localization and Map BuildingJ algorirhm and conducted some simulation studies. Lasrlx we pmposed a novel morion canceling camera system and cor@"d its validiry by experiment.

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