An automated digging control for a wheel loader

Lever, Paul

doi:10.1017/s0263574701003435

Cited by 21 publications

(21 citation statements)

References 15 publications

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“…Towards autonomous operations, intelligent digging control systems are developed using a behaviourbased control structure. For this, a fuzzy logic controller was implemented in an autonomous prototype was developed on the Caterpillar 980G platform, showing the performance comparable to an expert human operator in a wide range of excavation situations [63]. Volvo Construction Equipment demonstrated its prototypes of haul truck and wheel loader platforms in September 2016 for autonomous loading of soil to the loader bucket and dumping it on the truck [64].…”

Section: Semi-autonomous and Autonomous Loadersmentioning

confidence: 99%

Robotic autonomous systems for earthmoving in military applications

Yen

Balaguer

2019

Automation in Construction

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Along with increasing innovations in frontier engineering sciences, the advancement in Robotic Autonomous Systems (RAS) has brought about a new horizon in earthmoving processes for construction. In the military domain, there is also an increasing interest in utilising RAS technologies. In particular, ground-based forces are frequently called upon to conduct earthmoving tasks as part of military operations, tasks which could be partially or fully aided by the employment of RAS technologies. There have been rapid developments in military construction automation using high-mobility ground-based platforms, human-machine and machine-machine interfaces, teleoperation and control systems, data transmission systems, machine perception and manipulation capabilities, as well as advances in networked robotics and cyberphysical systems. Given these developments it is timely to undertake a comprehensive overview on the topic of interest to the research community and the authority. This paper presents an overview of the RAS development for platform-centric earthworks together with an analysis of the technical feasibility, maturity, key technical challenges, and future directions for the application of RAS technologies to earthmoving tasks of interest to the army. KeywordsMilitary earthmoving; robotic autonomous systems; technology/system readiness; mode of control 2.2.1Perception Robotic perception represents the sensing and data processing required of an autonomous system to acquire and represent knowledge about its environment. That is, to obtain measurements using various appropriate sensors, to extract meaningful information from those measurements, and to represent the environment in the form of a model that can be updated and interrogated.

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Section: Semi-autonomous and Autonomous Loadersmentioning

confidence: 99%

Robotic autonomous systems for earthmoving in military applications

Yen

Balaguer

2019

Automation in Construction

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“…Safe and efficient teleremote operation requires recreating the machine environment in real time. It is identified in [16][17][18] that operators make their decisions based on their vision, the sound from the surroundings, and vibrations from the machine. The lack of availability of these basic human sensor systems presents the problem of environmental perception.…”

Section: Challenges and Requirements For Teleremote Operationmentioning

confidence: 99%

Adaptive Video with SCReAM over LTE for Remote‐Operated Working Machines

Johansson

Dadhich

Bodin

et al. 2018

Wireless Communications and Mobile Computing

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Remote operation is a step toward the automation of mobile working machines. Safe and efficient teleremote operation requires good-quality video feedback. Varying radio conditions make it desirable to adapt the video sending rate of cameras to make the best use of the wireless capacity. The adaptation should be able to prioritize camera feeds in different directions depending on motion, ongoing tasks, and safety concerns. Self-Clocked Rate Adaptation for Multimedia (SCReAM) provides a rate adaptation algorithm for these needs. SCReAM can control the compression used for multiple video streams using differentiating priorities and thereby provide sufficient congestion control to achieve both low latency and high video throughput. We present results from the testing of prioritized adaptation of four video streams with SCReAM over LTE and discuss how such adaptation can be useful for the teleremote operation of working machines.

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“…Recently, both kinematic and dynamic models of a skid-steered robot were identified via a learning process based on the Extended Kalman filtering and an efficient neural network formulation [78]. In terms of machine control, an automated digging control system (ADCS) for a wheel loader was developed using a behaviour-based control structure combined with fuzzy logic, and implemented on a Caterpillar 980G wheel loader [79]. A closed-loop digital velocity control was successfully implemented for those objectives with the results validated via experiments on a large Caterpillar wheel loader model 990, as reported in [80].…”

Section: Loadermentioning

confidence: 99%

Earthmoving Construction Automation with Military Applications: Past, Present and Future

Ha¹,

Yen²,

Balaguer³

2018

Proceedings of the International Symposium on Automation and Robotics in Construction (IAARC)

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Amongst increasing innovations in frontier engineering sciences, the advancements in Robotic and Autonomous Systems (RAS) has brought about a new horizon in construction applications. There is evidence of increasing interest in RAS technologies in the civil construction sector being reflected in construction efforts of many military forces. In particular, Army or ground-based military forces are frequently called upon to conduct construction tasks as part of military operations, tasks which could be partially or fully aided by the employment of RAS technologies. Along with recent advances in the Internet of Things (IoT) and cyberphysical system infrastructure, it is essential to examine the current technical feasibility, maturity, affordability, as well as the challenges and future directions of the adoption and application of RAS to military construction. This paper presents a comprehensive survey and provides a contemporary and industry-independent overview on the state-ofthe-art of construction automation used in defence, spanning current world's best practice through to that which is predicted over the coming years.

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An automated digging control for a wheel loader

Cited by 21 publications

References 15 publications

Robotic autonomous systems for earthmoving in military applications

Robotic autonomous systems for earthmoving in military applications

Adaptive Video with SCReAM over LTE for Remote‐Operated Working Machines

Earthmoving Construction Automation with Military Applications: Past, Present and Future

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