Time Variable Minimum Torque Trajectory Optimization for Autonomous Excavator

06/01/2020
by   Yajue Yang, et al.
0

In this paper, we present a minimal torque and time variable trajectory optimization method for autonomous excavator considering the soil-tool interaction. The method formulates the excavation motion generation as a trajectory optimization problem and takes into account geometric, kinematic and dynamics constraints. To generate time-efficient trajectory and improve the overall optimization efficiency, we propose a time variable trajectory optimization mechanism so that the time intervals between the keypoints along the trajectory subject to the optimization. As a result, the method uses few keypoints and reduces the total number of optimization variables. We further introduce a soil-tool interaction force model, which considers the geometric shape of the bucket and the physical properties of the soil. The experimental result on a high fidelity dynamic simulator shows our method can generate feasible trajectories, which satisfy excavation task constraints and are adaptive to different soil conditions.

READ FULL TEXT
research
10/27/2020

Optimization-Based Framework for Excavation Trajectory Generation

In this paper, we present a novel optimization-based framework for auton...
research
08/15/2019

Comparing Metrics for Robustness Against External Perturbations in Dynamic Trajectory Optimization

Dynamic trajectory optimization is a popular approach for generating opt...
research
09/07/2022

Efficient Trajectory Planning and Control for USV with Vessel Dynamics and Differential Flatness

Unmanned surface vessels (USVs) are widely used in ocean exploration and...
research
08/28/2022

Differential Flatness-Based Trajectory Planning for Autonomous Vehicles

As a core part of autonomous driving systems, motion planning has receiv...
research
03/08/2022

Featured Trajectory Generation for TrackPuzzle

Indoor route graph learning is critically important for autonomous indoo...
research
03/03/2020

Underactuated Waypoint Trajectory Optimization for Light Painting Photography

Despite their abundance in robotics and nature, underactuated systems re...
research
09/17/2023

Spline-Based Minimum-Curvature Trajectory Optimization for Autonomous Racing

We propose a novel B-spline trajectory optimization method for autonomou...

Please sign up or login with your details

Forgot password? Click here to reset