Excavation Path Generation for Autonomous Excavator Considering Bulking Factor of Soil

Katsuma, Shinya; Yajima, Ryosuke; Hamasaki, Shunsuke; Chun, Pang‐jo; Nagatani, Keiji; Yamauchi, Genki; Hashimoto, Takeshi; Yamashita, Atsushi; Asama, Hajime

doi:10.22260/isarc2020/0080

Cited by 2 publications

(1 citation statement)

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“…This strategy can decrease energy consumption throughout the excavation process by decreasing the applied force for digging. Also, in [13], before excavating, the researchers identified the soil properties. In this manner, the identified material properties can be incorporated into the path and motion to be generated.…”

Section: Introductionmentioning

confidence: 99%

New Design of an Electrical Excavator and Its Path Generation for Energy Saving and Obstacle Avoidance

Ahmadi Khiyavi,

Seo,

Lin

2024

Vehicles

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This study’s goals are divided into two categories. The first is to design and build an excavator equipped with parallel electrical linear actuators. The second is to generate and test a PSO-based and a PFM-based path for this excavator in order to save energy by reducing energy consumption, improve the digging accuracy by minimizing the deviation between the desired and dug surfaces of the ground, and prevent colliding with subsurface objects. For this purpose, computer vision was employed to improve monitoring and verification. Five types of experiments were carried out in this investigation. The first two and the other three examined the impact of energy conservation in PSO- and PFM-based path generation, respectively. Finally, the results from these experiments were compared to identify and show the effect of optimal path generation.

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Section: Introductionmentioning

confidence: 99%