Optimization-Based Framework for Excavation Trajectory Generation

In this letter, we present a novel optimization-based framework for autonomous excavator trajectory generation under task-specific constraints. Traditional excavation trajectory generators over-simplify the geometric trajectory parameterization thereby limiting the space for optimization. To expand the search space, we formulate a generic task specification for excavation by constraining the instantaneous motion of the bucket and adding a target-oriented constraint to control the amount of excavated soil. The trajectory is represented with a waypoint interpolating spline. Time intervals between waypoints are relaxed as variables to facilitate generating the time-optimal trajectory in one stage. Experiments on a real robot platform demonstrate that our method is adaptive to different terrain shapes and outperforms other optimal path planners in terms of the minimum joint length and minimum travel time.

Automated summary

In this letter, a novel optimization-based framework for autonomous excavator trajectory generation is presented, which outperforms traditional methods by expanding the search space through task specification and waypoint interpolating spline representation of the trajectory. Experiments on a real robot platform demonstrate the adaptability and efficiency of the proposed method compared to other optimal path planners.