Experiments in Autonomous Earth Moving

Bonchis, Adrian; Hillier, Nicholas; Ryde, Julian; Duff, Elliot; Pradalier, CÃ©dric

doi:10.3182/20110828-6-it-1002.00536

Cited by 8 publications

(3 citation statements)

References 15 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Equipment automation has been researched and investigated by several researchers as a stepping stone to improve productivity of construction operations [21,42,46]. Automation in construction is not solely fueled by the need for increased productivity but is also approached as a response to poor safety and shortage of workforce [5]. This line of research is founded on the application of emerging technologies in tracking, surveying, robotics, and machine control.…”

Section: Excavation Automation and Location-based Guidance Systemsmentioning

confidence: 99%

Enhancing coordination and safety of earthwork equipment operations using Multi-Agent System

Vahdatikhaki¹,

Langari

Taher

et al. 2017

Automation in Construction

View full text Add to dashboard Cite

Section: Excavation Automation and Location-based Guidance Systemsmentioning

confidence: 99%

Enhancing coordination and safety of earthwork equipment operations using Multi-Agent System

Vahdatikhaki¹,

Langari

Taher

et al. 2017

Automation in Construction

View full text Add to dashboard Cite

“…Advanced industrial vehicle sensing and control technology, and other auxiliary technologies are proposed (Ali Roshanianfard et al, 2020) that could support the autonomous bulldozers. To improve the positioning precision and working efficiency of bulldozer, some researchers installed global satellite navigation system, angle sensor, and laser level on bulldozer to measure and control the position of bulldozer (Bonchis & Hillier, 2016; Jonasson et al, 2002). LIDAR and stereo camera are the common environmental perceptual sensors in automatic driving.…”

Section: Introductionmentioning

confidence: 99%

Complete coverage path planning and performance factor analysis for autonomous bulldozer

Zhou

Dou

et al. 2022

Journal of Field Robotics

View full text Add to dashboard Cite

With the development of intelligent machinery, path planning of autonomous bulldozers plays an important role to solve the problems of efficiency in future construction sites. How to plan the path that meets the construction requirements is the key problem. This study investigates the standardized construction workmanship and moving rules of the bulldozer to add rules and path selection strategies to the algorithm. This study establishes the path planning model of bulldozer's leveling, considering the limitations of the traditional bioinspired neural network algorithm, an improved complete coverage path planning method is proposed. An integrated framework is proposed for an automatic bulldozer with a sensor system for a field experiment to verify the feasibility of the method. According to the comparative statistical simulation results, the effectiveness of the method is verified, and the effects of different factors on the path planning results are analyzed.

show abstract

“…Sensors such as cameras, radars or lidars can be added to the machine, as has been done as part of work focused on autonomous wheel loaders, e.g. in [2], [12], [23] and [47], to provide a close range awareness and prediction. The information obtained from such sensors would be of high reliability, but with a highly limited prediction horizon and only including information about the environment and not the intentions of the driver.…”

Section: Optimal Predictive Control For Wheel Loadersmentioning

confidence: 99%

Optimal Predictive Control of Wheel Loader Transmissions

Nilsson

2015

View full text Add to dashboard Cite

The cover illustrations show wheel loaders at work. The transmissions of present heavy wheel loaders are in general based on torque converters. The characteristics of this component suits these machines, especially in that it enables thrust from zero vehicle speed without risk of stalling the engine, without active control. Unfortunately, the component also causes losses which might become large compared to the transmitted power. One approach for mitigating these losses is to switch to a continuously variable transmission.Changing to such a system greatly increases the possibility, and the need, for actively selecting the engine speed, and here a conict emerges. A low engine speed is desired for high eciency but a high speed is required for high power.Heavy wheel loaders often operate according to a common repeating pattern known as the short loading cycle.This cycle is extremely transient, which makes the choice of engine operating point both important and dicult. At the same time, the repeating pattern in the operation enables a rough prediction of the future operation. One way to use the uncertain prediction is to use optimization techniques for selecting the best control actions. This requires a method for detecting the operational pattern and producing a prediction from this, to formulate a manageable optimization problem, and for solving this, and nally to actually control the machine according to the optimization results.This problem is treated in the four papers that are included in this dissertation.The rst paper describes a method for automatically detecting when the machine is operating according to any of several predened patterns. The detector uses events and automata descriptions of the cycles, which makes the method simple yet powerful. In the evaluations over 90% of the actual cycles are detected and correctly identied. The detector also enables a quick analysis of large datasets. In several of the following papers this is used to condense measured data sequences into statistical cycles for the control optimization.In the second paper dynamic programming and Pontryagin's maximum principle is applied to a simplied system consisting of a diesel engine and a generator. Methods are developed based on the maximum principle analysis, for nding the fuel optimal trajectories at output power steps, and the simplicity of the system enables a deeper analysis of these solutions. The methods are used to examine and visualize the mechanisms behind the solutions at power transients, and the models form the basis for the models in the following papers.The third paper describes two dierent concepts for implementing dynamic programming based optimal control of a hydrostatic transmission. In this system one load component forms a stochastic state constraint, and the concepts present two dierent strategies for handling this constraint. The controller concepts are evaluated through simulations, in terms of implementability, robustness against uncertainties in the prediction and fuel savings. generell kunskap om hur m...

show abstract

Experiments in Autonomous Earth Moving

Cited by 8 publications

References 15 publications

Enhancing coordination and safety of earthwork equipment operations using Multi-Agent System

Enhancing coordination and safety of earthwork equipment operations using Multi-Agent System

Complete coverage path planning and performance factor analysis for autonomous bulldozer

Optimal Predictive Control of Wheel Loader Transmissions

Contact Info

Product

Resources

About