土壌との相互作用を考慮した自律掘削機の時間可変・最小トルク軌道最適化
Time Variable Minimum Torque Trajectory Optimization for Autonomous Excavator
土とバケットの相互作用力をモデル化し、時間間隔も最適化変数に含めることで、少ないキーポイントで効率的な掘削軌道を生成する手法を提案した。
著者: Yajue Yang, Jia Pan, Pinxin Long, Xibin Song, Liangjun Zhang
分類: cs.RO
原文アブストラクト
In this paper, we present a minimal torque and time variable trajectory optimization method for autonomous excavator considering the soil-tool interaction. The method formulates the excavation motion generation as a trajectory optimization problem and takes into account geometric, kinematic and dynamics constraints. To generate time-efficient trajectory and improve the overall optimization efficiency, we propose a time variable trajectory optimization mechanism so that the time intervals between the keypoints along the trajectory subject to the optimization. As a result, the method uses few keypoints and reduces the total number of optimization variables. We further introduce a soil-tool interaction force model, which considers the geometric shape of the bucket and the physical properties of the soil. The experimental result on a high fidelity dynamic simulator shows our method can generate feasible trajectories, which satisfy excavation task constraints and are adaptive to different soil conditions.
