Autonomous Excavation Using a Rope Shovel

2006 ◽  
pp. 555-566
Author(s):  
Matthew Dunbabin ◽  
Peter Corke
Keyword(s):  
Autonomous Excavation

Collaborative Tracking Control Strategy for Autonomous Excavation of a Hydraulic Excavator

2021 ◽  
Vol 10 (1) ◽  
pp. 43
Author(s):  
Fattah Hanafi Sheikhha ◽  
Ali Afzalaghaeinaeini ◽  
Jaho Seo
Keyword(s):  
Control Strategy ◽  
Tracking Control ◽  
Position Control ◽  
Simulation Models ◽  
Hydraulic Excavator ◽  
Tracking Errors ◽  
Collaborative Tracking ◽  
Autonomous Excavation ◽  
Tip Position ◽  
Electrohydraulic Actuators

A hydraulic excavator consists of multiple electrohydraulic actuators (EHA). Due to uncertainties and nonlinearities in EHAs, it is challenging to devise a proper control strategy. To tackle this issue, a major goal of our study is to provide an efficient control strategy to minimize tracking errors of the bucket tip position for autonomous excavation. To accomplish the goal, the study offers a collaboration of PID and fuzzy controllers that are used to compensate for contour errors and achieve accurate actuator position control, respectively. Co-simulation models including control algorithms and hydraulic components were created using Matlab and Amesim to validate the performance of the designed controllers. Simulations indicate that the proposed method enables achieving accurate tracking control for autonomous excavation with small tracking errors despite the nonlinear characteristics of the hydraulic excavator system.

ARIEL: Autonomous Excavation Site Selection for Europa Lander Mission Concept

2020 ◽  
Author(s):  
Masahiro Ono ◽  
Gary Doran ◽  
Erik Langert ◽  
Kiri Wagstaff ◽  
David Inkyu Kim ◽  
...  
Keyword(s):  
Site Selection ◽  
Autonomous Excavation ◽  
Selection For ◽  
Excavation Site

Towards Autonomous Excavation

1998 ◽  
pp. 124-128 ◽  
Author(s):  
Anh Tuan Le ◽  
Quang Nguyen ◽  
Q. P. Ha ◽  
David Rye ◽  
Hugh Durrant-Whyte ◽  
...  
Keyword(s):  
Autonomous Excavation

Autonomous excavation using a rope shovel

2006 ◽  
Vol 23 (6-7) ◽  
pp. 379-394 ◽  
Author(s):  
Matthew Dunbabin ◽  
Peter Corke
Keyword(s):  
Autonomous Excavation

Planning and Control for Autonomous Excavation

2017 ◽  
Vol 2 (4) ◽  
pp. 2151-2158 ◽  
Author(s):  
Dominic Jud ◽  
Gabriel Hottiger ◽  
Philipp Leemann ◽  
Marco Hutter
Keyword(s):  
Planning And Control ◽  
Autonomous Excavation ◽  
And Control
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