AUTONOMOUS EXCAVATION USING HYDRAULIC MOBILE MACHINE RETROFITTED WITH ELECTRONIC CONTROL SYSTEM

摘要

Autonomous functions are a common research topic in robotics. However, the robots typically have limited operating conditions and they can only handle relatively small loads. Many autonomous control concepts are applicable to actual construction machinery. The benefits would be considerable regarding efficiency, safety, and operator comfort. The research projects of this field have often led to systems with cost and complexity too high for most applications. This paper presents an implementation of a cost-effective distributed control system that is retrofitted to a small hydraulic excavator. The system can be used to perform simple operator assisting functions but also to develop autonomous excavation.The hardware of the system consists of cost-effective joint angle sensors and a flexible microcontroller unit. Control schemes that produce autonomous functions are discussed and tested with the excavator. These include position controllers for conventional mobile proportional hydraulics. The aim is to find computationally simple but flexible algorithms for autonomous excavation. The results of the preliminary tests are presented. Future improvements are discussed.