Autonomous Excavation Using Hydraulic Mobile Machine Retrofitted With Electronic Control System

Abstract

Autonomous functions are a common research topic in robotics. However, the robots typically have limited operating conditions and they can only handle relatively small loads. Many autonomous control concepts are applicable to actual construction machinery. The benefits would be considerable regarding efficiency, safety, and operator comfort. The research projects of this field have often led to systems with cost and complexity too high for most applications. This paper presents an implementation of a cost-effective distributed control system that is retrofitted to a small hydraulic excavator. The system can be used to perform simple operator assisting functions but also to develop autonomous excavation. The hardware of the system consists of cost-effective joint angle sensors and a flexible microcontroller unit. Control schemes that produce autonomous functions are discussed and tested with the excavator. These include position controllers for conventional mobile proportional hydraulics. The aim is to find computationally simple but flexible algorithms for autonomous excavation. The results of the preliminary tests are presented. Future improvements are discussed.

The Concept of Future Worksite – Towards Teamwork-centered Field Robotic Systems

“…The basic requirements for the work machine to become a field robot are; to be digitally controllable and observable, ability to localize itself within the worksite (Ghabcheloo and Hyvonen (2009)), have some level of planning and reactive control to be able to traverse within the worksite, and to be able to perform manipulative tasks autonomously (Karhu et al (2008)). Additionally, human should also be specially noted as the autonomous machines should never put the human into danger.…”