Bomag BW154 & BW174

Contact: Thorsten Ropertz, Patrick Wolf

Further Information

Description

The two road rollers BW154 and BW174 of the Bomag GmbH are research platforms of the AMMCOA project. In a road production scenario, approaches for the coordination of different autonomous construction machines such as road pavers, feeders, rollers and trucks are being researched. As a paver requires a continuous mass flow, feeders and trucks must be coordinated accordingly to ensure a steady supply. Likewise, a cooperation of the road rollers for the compression of the material takes place, because of the compression process is subject to high time and precision requirements.

As part of this, two road rollers were converted to fully autonomous systems and equipped with variable sensors for environmental awareness and surround safety. In addition to the development of control concepts for the individual rolls in a road construction environment, equally complex cooperation solutions are being developed. Here, the systems benefit from high bandwidths of a local "5G" communication infrastructure.

In addition to the development of real road rollers, also complex scenarios are simulated. Thus, complex construction area environments can be created virtually and the research approaches can be checked in advance and with any number of cooperation partners. After successful simulation tests, a transfer of control software and validation takes place on the real platforms.

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Publications

2019

Patrick Wolf, Thorsten Ropertz, Alexander Matheis, Karsten Berns, Peter Decker
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Distributed Coordination and Task Assignment of Autonomous Tandem Rollers in Road Construction Scenarios
36th International Symposium on Automation and Robotics in Construction (ISARC 2019), pp. 953-960, 2019, May 21--24, Fairmont Banff Springs Hotel, Banff, AB, Canada, DOI: 10.22260/ISARC2019/0127
Patrick Wolf, Thorsten Ropertz, Karsten Berns, Peter Decker
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White Paper: High Quality Road Construction using 5G-AMMCOA. Autonomous Mobile Machine Communication for Off-Road Applications
in  , pp. 1--7, 2019, February, presented along the 4. International VDI Conference - Connected Off-Highway Machines, 14--15 May, 2019, Düsseldorf, Germany
Akash Yadav
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Behaviour Based Control Strategy for Double Ackermann Steering Control of Bomag Autonomous Tandem Road Rollers
Project Thesis, Robotics Research Lab, TU Kaiserslautern, 2019, Kaiserslautern, Germany, unpublished, supervised by Patrick Wolf and Axel Vierling

2018

Alexander Matheis
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Behavior-based collaboration and distributed task assignment of autonomous tandem rollers in street construction scenarios
Master's Thesis, Robotics Research Lab, TU Kaiserslautern, 2018, September 24, Kaiserslautern, Germany, unpublished, supervised by Patrick Wolf
Thorsten Ropertz, Patrick Wolf, Karsten Berns
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Behavior-Based Low-Level Control for (semi-) Autonomous Vehicles in Rough Terrain
Proceedings of ISR 2018: 50th International Symposium on Robotics, VDE VERLAG GMBH, pp. 386--393, 2018, June 20--21, Munich, Germany, ISBN: 978-3-8007-4699-6
Karsten Berns, Patrick Wolf, Peter Decker
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Auf dem Weg zur autonomen Straßenfertigung. Kooperation und Kommunikation von vollauto­matisierten Nutzfahrzeugen in der Baustelle von morgen am Beispiel von BOMAG Tandemwalzen.
in CVC News, vol. 1, pp. 12--15, 2018, Juni
Thorsten Ropertz, Patrick Wolf, Karsten Berns, Jochen Hirth, Peter Decker
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Cooperation and Communication of Autonomous Tandem Rollers in Street Construction Scenarios
Commercial Vehicle Technology 2018. Proceedings of the 5th Commercial Vehicle Technology Symposium -- CVT 2018, Springer Vieweg, pp. 25--36, Commercial Vehicle Alliance Kaiserslautern (CVA), 2018, March 13--15, Kaiserslautern, Germany, ISBN 978-3-658-21299-5, DOI 10.1007/978-3-658-21300-8, URL: https://link.springer.com/content/pdf/10.1007%2F978-3-658-21300-8.pdf

2016

Alexander Klein
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Behavior-Based Cooperation Strategies for Construction Machines
Master's Thesis, Robotics Research Lab, University of Kaiserslautern, 2016, December 01, Kaiserslautern, Germany, unpublished, supervised by Thorsten Ropertz