Journal
MACHINES
Volume 10, Issue 7, Pages -Publisher
MDPI
DOI: 10.3390/machines10070538
Keywords
autonomous excavator; optimal time-jerk; trajectory generation; human operation modelling; spline-based parameterization
Funding
- Fundamental Research Funds for the Central Universities of Chang'an University [300102259503]
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This paper proposes a novel trajectory generation method for autonomous excavator teach-and-plan applications. It transforms the human excavation trajectory into a topologically equivalent path that is fast, smooth, and dynamically feasible. The method optimizes trajectories in both time and jerk aspects and has been validated in a field environment.
In this paper, we propose a novel trajectory generation method for autonomous excavator teach-and-plan applications. Rather than controlling the excavator to precisely follow the teaching path, the proposed method transforms the arbitrary slow and jerky trajectory of human excavation into a topologically equivalent path that is guaranteed to be fast, smooth and dynamically feasible. This method optimizes trajectories in both time and jerk aspects. A spline is used to connect these waypoints, which are topologically equivalent to the human teaching path. Then the trajectory is reparametrized to obtain the minimum time-jerk trajectory with the kinodynamic constraints. The optimal time-jerk trajectory generation method is both formulated using nonlinear programming and conducted iteratively. The framework proposed in this paper was integrated into a complete autonomous excavation platform and was validated to achieve aggressive excavation in a field environment.
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