Compact Reachability Map for Excavator Motion Planning

Yajue Yang; Liangjun Zhang; Xinjing Cheng; Jia Pan; Ruigang Yang

doi:10.1109/IROS40897.2019.8968050

Compact Reachability Map for Excavator Motion Planning

Yajue Yang, Liangjun Zhang, Xinjing Cheng, Jia Pan, Ruigang Yang

Computer Science

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

18 Scopus citations

Abstract

In this paper, we propose a novel compact reachability map representation for excavator motion planning. The constructed reachability map can concisely encode the bucket's reachable pose and the translation capability limited by excavator's kinematic structure. By explicitly exploiting the property that the basic excavation motion lies on the excavation plane determined by excavator links, we further reduce the construction of the map from 3D Euclidean space to 2D excavation plane. We show the pre-computed reachability map can be used to develop new excavator motion planning approach. By indexing on the pre-computed reachability map, we can efficiently compute the feasible full-bucket trajectory for single step excavation operation. We highlight the results of the reachability map construction and demonstrate the simulation results of motion planning using a commercial dynamic simulator.

Original language	English
Title of host publication	2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
Pages	2308-2313
Number of pages	6
ISBN (Electronic)	9781728140049
DOIs	https://doi.org/10.1109/IROS40897.2019.8968050
State	Published - Nov 2019
Event	2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019 - Macau, China Duration: Nov 3 2019 → Nov 8 2019

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems
ISSN (Print)	2153-0858
ISSN (Electronic)	2153-0866

Conference

Conference	2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
Country/Territory	China
City	Macau
Period	11/3/19 → 11/8/19

Bibliographical note

Publisher Copyright:
© 2019 IEEE.

Funding

*This work was supported by Baidu Inc. 1Y. Yang is with the City University of Hong Kong. [email protected] 2L. Zhang, X. Cheng, R. Yang are with the Robotics and Auto-Driving Lab, Baidu Research. liangjunzhang, chengxinjing, [email protected] 3J. Pan is with the University of Hong Kong. [email protected]

Funders	Funder number
Baidu Inc

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Vision and Pattern Recognition
Computer Science Applications

Access to Document

10.1109/IROS40897.2019.8968050

Cite this

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title = "Compact Reachability Map for Excavator Motion Planning",

abstract = "In this paper, we propose a novel compact reachability map representation for excavator motion planning. The constructed reachability map can concisely encode the bucket's reachable pose and the translation capability limited by excavator's kinematic structure. By explicitly exploiting the property that the basic excavation motion lies on the excavation plane determined by excavator links, we further reduce the construction of the map from 3D Euclidean space to 2D excavation plane. We show the pre-computed reachability map can be used to develop new excavator motion planning approach. By indexing on the pre-computed reachability map, we can efficiently compute the feasible full-bucket trajectory for single step excavation operation. We highlight the results of the reachability map construction and demonstrate the simulation results of motion planning using a commercial dynamic simulator.",

author = "Yajue Yang and Liangjun Zhang and Xinjing Cheng and Jia Pan and Ruigang Yang",

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year = "2019",

month = nov,

doi = "10.1109/IROS40897.2019.8968050",

language = "English",

series = "IEEE International Conference on Intelligent Robots and Systems",

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Yang, Y, Zhang, L, Cheng, X, Pan, J & Yang, R 2019, Compact Reachability Map for Excavator Motion Planning. in 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019., 8968050, IEEE International Conference on Intelligent Robots and Systems, pp. 2308-2313, 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019, Macau, China, 11/3/19. https://doi.org/10.1109/IROS40897.2019.8968050

Compact Reachability Map for Excavator Motion Planning. / Yang, Yajue; Zhang, Liangjun; Cheng, Xinjing et al.
2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019. 2019. p. 2308-2313 8968050 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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Compact Reachability Map for Excavator Motion Planning

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