Compact Reachability Map for Excavator Motion Planning

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

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

14 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 languageEnglish
Title of host publication2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
Pages2308-2313
Number of pages6
ISBN (Electronic)9781728140049
DOIs
StatePublished - Nov 2019
Event2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019 - Macau, China
Duration: Nov 3 2019Nov 8 2019

Publication series

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

Conference

Conference2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
Country/TerritoryChina
CityMacau
Period11/3/1911/8/19

Bibliographical note

Publisher Copyright:
© 2019 IEEE.

ASJC Scopus subject areas

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

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