Model-Based Control of Three Degrees of Freedom Robotic Bulldozing

被引：6

作者：

Olsen, Scott G. ^{[1
]}

Bone, Gary M. ^{[1
]}

机构：

[1] McMaster Univ, Dept Mech Engn, Hamilton, ON L8S 4L7, Canada

来源：

JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME | 2014年 / 136卷 / 02期

基金：

加拿大自然科学与工程研究理事会;

关键词：

mobile robots; dozer; bulldozing; hybrid dynamic systems; optimal control;

D O I：

10.1115/1.4025861

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This brief paper investigates the control of a robotic bulldozing operation. Optimal blade position control laws were designed based on a hybrid dynamic model to maximize the predicted material removal rate of the bulldozing process. Experiments were conducted with a scaled-down robotic bulldozing system. The control laws were implemented with various tuning values. As a comparison, a rule-based blade control algorithm was also designed and implemented. The experimental results with the best optimal controller demonstrated a 33% increase in the average material removal rate compared to the rule-based controller.

引用

页数：5

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