Abstract
We present a composite forward model of the mechanics of an excavator backhoe digging in soil. This model is used to predict the trajectories developed by a closed-loop force based control scheme given initial conditions, some of which can be controlled (excavator control parameters), some directly measured (shape of the terrain), and some estimated (soil properties). Since soil conditions can vary significantly, it is necessary that soil properties be estimated online. Our models are used to both estimate soil properties and predict contact forces between the excavator and the terrain. In a large set of experiments we have conducted, we find that these models are accurate to within approximately 20% and run about 10 times faster than real-time. In this paper we motivate the development of these models and discuss experimental data from our testbed.
Preview
Unable to display preview. Download preview PDF.
References
Alekseeva, T. V., Artem’ev, K.A. & Bromberg, A., Machines for Earthmoving Work, Theory and Calculations, A. A. Balkema, Rotterdam, 1992
Bilodeau, G. and Papadopoulos, E., Modeling, Identification and Experimental Validation of a Hydraulic Manipulator Joint for Control, In Proc. International Conf. on Intelligent Robots and Systems, Grenoble, France, September 1997.
Cannon, H., Extended Earthmoving with an Autonomous Excavator, Masters Thesis, Robotics Institute, Carnegie Mellon University, May 1999.
Cundall, P., Board, M. A Microcomputer Program for Modeling Large Strain Plasticity Problems, Numerical Methods in Geomechanics, Balkema, Rotterdam, 1988.
Luengo, O., Singh, S., Cannon, H., Modeling and Identification of Soil-Tool Interaction in Automated Excavation, In Proc. International Conf. on Intelligent Robots and Systems, Victoria, B.C, Canada. October 1998.
Krishna, M., and Bares. J., Hydraulic System Modeling through Memory-based learning, In Proc. International Conf. on Intelligent Robots and Systems, Victoria, B.C, Canada. October 1998.
Mckyes, E. Soil Cutting and Tillage, Elsevier, 1985.
Hettiaratchi, D. R. P., Theoretical Soil Mechanics and Implement Design, Soil and Tillage Research, Vol 11, 1988, pp 325–347. Elsevier Science Publishers.
Reece, A. R., The Fundamental Equation of Earthmoving Mechanics, In Proc. of the Institution of Mechanical Engineers, 1964.
Rocke, D. J., Control system for automatically controlling a work implement of an earthmoving machine to capture material, US Patent 5528843, 1994.
Singh, S., Synthesis of Tactical Plans for Robotic Excavation, Ph.D Thesis, January, 1995, Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213.
Singh, S., Cannon, H., Multi-Resolution Planning for Earthmoving, In Proc. International Conference on Robotics and Automation, Leuven, May 1998.
Stentz, A., Bares, J., Singh, S. & Rowe, P., A Robotic Excavator for Autonomous Truck Loading, In Proc. International Conf. on Intelligent Robots and Systems, Victoria, B.C, Canada. October 1998.
Zelenin, A. N., Balovnev, V. I. & Kerov L.P., Machines for moving the earth, A. A. Balkema, Rotterdam, 1992.
Author information
Authors and Affiliations
Corresponding authors
Rights and permissions
Copyright information
© 2000 Springer-Verlag London Limited
About this paper
Cite this paper
Cannon, H., Singh, S. (2000). Models for automated earthmoving. In: Experimental Robotics VI. Lecture Notes in Control and Information Sciences, vol 250. Springer, London. https://doi.org/10.1007/BFb0119395
Download citation
DOI: https://doi.org/10.1007/BFb0119395
Published:
Publisher Name: Springer, London
Print ISBN: 978-1-85233-210-5
Online ISBN: 978-1-84628-541-7
eBook Packages: Springer Book Archive