Browse > Article

A Path Planning for Autonomous Excavation Based on Energy Function Minimization  

Park, Hyong-Ju (Department of Mechanical Engineering, Korea Univ.)
Bae, Jang-Ho (Department of Mechanical Engineering, Korea Univ.)
Hong, Dae-Hie (Department of Mechanical Engineering, Korea Univ.)
Publication Information
Journal of the Korean Society for Precision Engineering / v.27, no.1, 2010 , pp. 76-83 More about this Journal
Abstract
There have been many studies regarding development of autonomous excavation system which is helpful in construction sites where repetitive jobs are necessary. Unfortunately, bucket trajectory planning was excluded from the previous studies. Since, the best use of excavator is to dig efficiently; purpose of this research was set to determine an optimized bucket trajectory in order to get best digging performance. Among infinite ways of digging any given path, criterion for either optimal or efficient bucket moves is required to be established. One method is to adopt work know-how from experienced excavator operator; However the work pattern varies from every worker to worker and it is hard to be analyzed. Thus, other than the work pattern taken from experienced operator, we developed an efficiency model to solve this problem. This paper presents a method to derive a bucket trajectory from optimization theory with empirical CLUB soil model. Path is greatly influenced by physical constraints such as geometry, excavator dimension and excavator workspace. By minimizing a energy function under these constraints, an optimal bucket trajectory could be obtained.
Keywords
Intelligent Excavator; Path Planning; Autonomous Excavation; Energy Function Minimization;
Citations & Related Records
연도 인용수 순위
  • Reference
1 Ha, Q. P., Nguyen, Q. H., Rye, D. C., Durrant-Whyte, H. F., "Impedance Control of a Hydraulically Actuated Robotic Excavator," Automation in Construction, Vol. 9, No. 5-6, pp. 421-435, 2000.   DOI   ScienceOn
2 Hong, W. J., "Modeling, Estimation, and Control of Robot-Soil Interactions," Ph.D. Thesis, Department of Mechanical Engineering, MIT, 2001.
3 Vaha, P. K. and Skibniewski, M. J., "Dynamic Model of Excavator," Journel of Aerospace Engineering, Vol. 6, No. 2, pp. 148-158, 1993.   DOI
4 Joseph, F., "Development of a Haptic Backhoe Testbed," M.S. Thesis, School of Mechanical Engineering, Georgia Institute of Technology, 2004.
5 Chen, W. F. and Liu, X. L., "Limit Analysis in Soil Mechanics," Elsevier Science, 1990.
6 Singh, S., "Synthesizing Plans for Tactical Robotic Excavation," Ph.D. Thesis, The Robotics Institute, Carnegie Mellon University, 1995.
7 Sakaida, Y., Chugo, D., Kawabata, K., Kaetsu, H. and Asama, H., "The Analysis of Skillful Hydraulic Excavator Operation," Nippon Kikai Gakkai Robotikusu, Mekatoronikusu Koenkai Koen Ronbunshu (CD-ROM), pp. 2A1-B01, 2006.