Spline-Based Optimal Trajectory Generation for Autonomous Excavator

Zhao, Jiangying; Hu, Yongbiao; Liu, Chengshuo; Tian, Mingrui; Xia, Xiaohua

doi:10.3390/machines10070538

Cited by 11 publications

(4 citation statements)

References 31 publications

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“…In the articles [54][55][56][57][58][59][60], the authors conducted studies similar to ours. The Portuguese researchers D. Gomes et al proposed automatic shape and position detection using a two-dimensional (2D) industrial laser to extract three-dimensional (3D) data, where object motion adds a third dimension through the laser beam [54].…”

Section: Comparison Of Laboratory and Field Research Resultsmentioning

confidence: 82%

“…The authors substantiated the effectiveness of various methods at different stages of route construction depending on the obstacles and the visibility of each type of signal. The authors of [60] propose a new trajectory generation method for autonomous-excavator training and planning applications. The method transforms an arbitrary slow and intermittent excavation trajectory and optimizes the trajectories in time and in the jerk aspect.…”

Section: Comparison Of Laboratory and Field Research Resultsmentioning

confidence: 99%

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Laser Rangefinder Methods: Autonomous-Vehicle Trajectory Control in Horticultural Plantings

Kutyrev,

Kiktev,

Smirnov

2024

Sensors

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This article presents a developed motion control system for a robotic platform based on laser-ranging methods, a graph traversal algorithm and the search for the optimal path. The algorithm was implemented in an agricultural building and in the field. As a result, the most efficient algorithm for finding the optimal path (A*) for the robotic platform was chosen when performing various technological operations. In the Rviz visualization environment, a program code was developed for planning the movement path and setting the points of the movement trajectory in real time. To find the optimal navigation graph in an artificial garden, an application was developed using the C# programming language and Visual Studio 2019. The results of the experiments showed that field conditions can differ significantly from laboratory conditions, while the positioning accuracy is significantly lower. The statistical processing of the experimental data showed that, for the movement of a robotic platform along a given trajectory in the field, the most effective conditions are as follows: speed: 2.5 km/h; illumination: 109,600 lux; distance to the tree: 0.5 m. An analysis of the operating parameters of the LiDAR sensor showed that it provides a high degree of positioning accuracy under various lighting conditions at various speeds in the aisles of a garden 3 m wide with an inter-stem distance of 1.5 m and a tree crown width of 0.5 m. The use of sensors—rangefinders of the optical range—allows for the performance of positional movements of the robotic platform and ensures the autonomous performance of the basic technological operations of the units in intensive gardens with a deviation from the specified trajectory of no more than 8.4 cm, which meets the agrotechnical requirements.

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Section: Comparison Of Laboratory and Field Research Resultsmentioning

confidence: 82%

Section: Comparison Of Laboratory and Field Research Resultsmentioning

confidence: 99%

Laser Rangefinder Methods: Autonomous-Vehicle Trajectory Control in Horticultural Plantings

Kutyrev,

Kiktev,

Smirnov

2024

Sensors

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“…By utilizing joint angular velocity, angular acceleration, and acceleration as constraints, the dynamic trajectory planning method of the excavator was improved through the application of fuzzy logic control. This method ensures high efficiency and smoothness during the excavation process, as evidenced by previous works [16][17][18][19][20][21]. In order to achieve a continuous mining trajectory, a multi-objective optimization trajectory was established, considering driving limits and geometric conditions.…”

Section: Introductionmentioning

confidence: 99%

Research on Excavator Trajectory Control Based on Hybrid Interpolation

et al. 2023

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In this study, to address the issues of tooth tip operation discontinuity and jitter during autonomous excavator operation, a multi-segment mixed interpolation method utilizing different higher-order polynomials has been proposed. This approach is designed to optimize the tooth tip trajectory of the excavator under multiple constraints, resulting in a smoother trajectory. Specifically, the single-bucket excavator was chosen as the research object, and three different high-order mixed polynomials were utilized to interpolate the trajectory of the digging discrete points. Through a comparative analysis under multiple constraints, this study explored and analyzed the joint angle, angular velocity, and angular acceleration curves of each excavator’s joint. An experimental platform was established to investigate the hydraulic system of an excavator, and the optimal trajectory was controlled using a high-order mixed polynomial interpolation. The results of this study demonstrate that the tracking accuracy of the excavator’s actuator under the optimal interpolation strategy is high, with a maximum displacement deviation of ±3 mm. Additionally, during operation, the excavator manipulator runs smoothly and continuously with minimal flexible impact and vibration.

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“…The approach addresses geometric, kinematic, and dynamical restrictions while considering the excavation path as a trajectory optimization problem. The authors of [15] attempted to take the jerky and slow operator commands and transform them into quick and optimal motions for autonomous excavators using splines, which can contribute to reducing energy consumption and minimizing jerky motions. Also, in [16], the researchers developed an ideal bucket-filling algorithm for self-driving excavators to estimate the amount of soil in the bucket based on nonlinear and complicated models.…”

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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Spline-Based Optimal Trajectory Generation for Autonomous Excavator

Cited by 11 publications

References 31 publications

Laser Rangefinder Methods: Autonomous-Vehicle Trajectory Control in Horticultural Plantings

Laser Rangefinder Methods: Autonomous-Vehicle Trajectory Control in Horticultural Plantings

Research on Excavator Trajectory Control Based on Hybrid Interpolation

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

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