Excavation Path Generation for Autonomous Excavator Considering Bulking Factor of Soil
Excavation Path Generation for Autonomous Excavator Considering Bulking Factor of Soil
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DOI：
10.22260/isarc2020/0080
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发表时间：
2020
期刊：
影响因子：
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通讯作者：
Shinya Katsuma;Ryosuke Yajima;Shunsuke Hamasaki;P. Chun;K. Nagatani;Genki Yamauchi;Takeshi Hashimoto;A. Yamashita;H. Asama
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文献类型：
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作者：
Shinya Katsuma;Ryosuke Yajima;Shunsuke Hamasaki;P. Chun;K. Nagatani;Genki Yamauchi;Takeshi Hashimoto;A. Yamashita;H. Asama
本文提出了一种考虑土壤膨胀因素的自主挖掘机挖掘路径生成方法。在现有的自主挖掘研究中，挖掘机的路径是根据已知的土壤特性手动规划的。因此，在土壤性质未知的情况下，挖掘过程的效率可能会降低。为了解决这个问题，本文提出了一种基于体积因子生成开挖路径的新方法，并实现对任何土壤类型的高效开挖。膨胀系数是通过开挖过程中目标土壤的传感数据来估计的。实验结果表明，该方法能够针对不同土质特性生成有效的开挖路径。
This paper proposes an excavation path generation method for autonomous excavators by considering the bulking factor of soil. In existing research on autonomous excavation, the excavator’s path was manually planned, based on known soil properties. Thus, the efficiency of the excavation process may reduce in situations where the soil properties are unknown. To address this problem, this paper proposes a novel method for generating an excavation path based on the bulking factor and for realizing an efficient excavation for any soil type. The bulking factor is estimated by sensing data of the target soil during the excavation. The experimental results show that the proposed method can generate an efficient excavation path for different soil properties.