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에너지 함수 최적화를 통한 무인 굴삭 계획A Path Planning for Autonomous Excavation Based On Energy Function Minimization

Other Titles
A Path Planning for Autonomous Excavation Based On Energy Function Minimization
Authors
박형주배장호홍대희
Issue Date
2010
Publisher
한국정밀공학회
Keywords
ntelligent Excavator (지능형 굴삭기); Path Planning (경로 계획); Autonomous Excavation (굴삭자동화); Energy Function Minimization (에너지 함수 최적화)
Citation
한국정밀공학회지, v.27, no.1, pp.76 - 83
Indexed
KCI
Journal Title
한국정밀공학회지
Volume
27
Number
1
Start Page
76
End Page
83
URI
https://scholar.korea.ac.kr/handle/2021.sw.korea/118171
ISSN
1225-9071
Abstract
There have been many studies regarding development of autonomous excavation system which is helpful in construction sites where repetitive jobs are necessary. Unfortunately, bucket trajectory planning was excluded from the previous studies. Since, the best use of excavator is to dig efficiently; purpose of this research was set to determine an optimized bucket trajectory in order to get best digging performance. Among infinite ways of digging any given path, criterion for either optimal or efficient bucket moves is required to be established. One method is to adopt work know-how from experienced excavator operator; However the work pattern varies from every worker to worker and it is hard to be analyzed. Thus, other than the work pattern taken from experienced operator, we developed an efficiency model to solve this problem. This paper presents a method to derive a bucket trajectory from optimization theory with empirical CLUB soil model. Path is greatly influenced by physical constraints such as geometry, excavator dimension and excavator workspace. By minimizing a energy function under these constraints, an optimal bucket trajectory could be obtained.
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