Investigation of Robotic Material Loading Strategies using an Earthmoving Simulator

Eric Halbach, Aarne Halme, Ville Kyrki

Tutkimustuotos: Artikkeli kirjassa/konferenssijulkaisussaConference contributionScientificvertaisarvioitu

200 Lataukset (Pure)

Abstrakti

A kinematic earthmoving simulation environment was used to investigate job planning strategies which could increase the performance of automated material loading with a robotic compact skid-steered wheel loader. One new problem studied was the subdivision of a larger rectangular workspace using the smaller rectangular Scoop Area (SA). Two methods for selecting scooping approach vectors were also compared: a Zero Contour (ZC) method which assesses all possible perpendicular approaches along the bottom of the slope, and the proposed alternative High Point (HP) method which scoops towards the highest point in the current workspace from a ?xed point. Three jobs were simulated to determine which scooping method and SA dimensions resulted in the highest excavation rate in a truck loading scenario. Assuming the same scoop ?lling effectiveness, the HP method was found to offer a higher rate than the ZC method due to its more limited driving envelope. The maximum HP rates were achieved with SA dimensions which were narrower and longer than with the ZC method, while the optimal SA dimensions were also found to be dependent on the job parameters. When a higher amount of material to excavate per area was present, smaller SAs resulted in higher rates.
AlkuperäiskieliEnglanti
OtsikkoProceedings of The 9th EUROSIM Congress on Modelling and Simulation (EUROSIM 2016), The 57th SIMS Conference on Simulation and Modelling (SIMS 2016)
ToimittajatEsko Juuso, Erik Dahlquist, Kauko Leiviskä
KustantajaLINKÖPING UNIVERSITY ELECTRONIC PRESS
Sivut1102-1108
Sivumäärä7
ISBN (elektroninen)978-91-7685-399-3
TilaJulkaistu - 19 joulukuuta 2018
OKM-julkaisutyyppiA4 Artikkeli konferenssijulkaisuussa
TapahtumaEUROSIM Congress on Modelling and Simulation & SIMS Conference on Simulation and Modelling - Oulu, Suomi
Kesto: 12 syyskuuta 201616 syyskuuta 2016

Julkaisusarja

NimiLinköping electronic conference proceedings
KustantajaLinköping University Electronic Press
Numero142
ISSN (painettu)1650-3686
ISSN (elektroninen)1650-3740

Conference

ConferenceEUROSIM Congress on Modelling and Simulation & SIMS Conference on Simulation and Modelling
LyhennettäEUROSIM 2016 and SIMS 2016
Maa/AlueSuomi
KaupunkiOulu
Ajanjakso12/09/201616/09/2016

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