Title: Excavation Path Generation for Autonomous Excavator Considering Bulking Factor of Soil
Abstract:Excavation Path Generation for Autonomous Excavator Considering Bulking Factor of Soil Shinya Katsuma, Ryosuke Yajima, Shunsuke Hamasaki, Pang-Jo Chun, Keiji Nagatani, Genki Yamauchi, Takeshi Hashimot...Excavation Path Generation for Autonomous Excavator Considering Bulking Factor of Soil Shinya Katsuma, Ryosuke Yajima, Shunsuke Hamasaki, Pang-Jo Chun, Keiji Nagatani, Genki Yamauchi, Takeshi Hashimoto, Atsushi Yamashita and Hajime Asama Pages 578-583 (2020 Proceedings of the 37th ISARC, Kitakyushu, Japan, ISBN 978-952-94-3634-7, ISSN 2413-5844) Abstract: This paper proposes an excavation path generationmethod for autonomous excavators by considering the bulking factor of soil. In existing research on autonomous excavation, the excavator's path was manually planned, based on known soil properties. Thus, the efficiency of the excavation process may reduce in situations where the soil properties are unknown. To address this problem, this paper proposes a novel method for generating an excavation path based on the bulking factor and for realizing an efficient excavation for any soil type. The bulking factor is estimated by sensing data of the target soil during the excavation. The experimental results show that the proposed method can generate an efficient excavation path for different soil properties. Keywords: Excavation; Path Planning; Bulking Factor of Soil DOI: https://doi.org/10.22260/ISARC2020/0080 Download fulltext Download BibTex Download Endnote (RIS) TeX Import to MendeleyRead More
Publication Year: 2020
Publication Date: 2020-10-14
Language: en
Type: article
Indexed In: ['crossref']
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Cited By Count: 3
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