Models for Automated Earthmoving

Abstract: We present a composite forward model of the mechanics of an excavator backhoe digging in soil. This model is used to predict the trajectories developed by a closed-loop force based control scheme given initial conditions, some of which can be controlled (excavator control parameters), some directly measured (shape of the terrain), and some estimated (soil properties). Since soil conditions can vary significantly, it is necessary that soil properties be estimated online. Our models are used to both estimate soil properties and predict contact forces between the excavator and the terrain. In a large set of experiments we have conducted, we find that these models are accurate to within approximately 20% and run about 100 times faster than real-time. In this paper we motivate the development of these models and discuss experimental data from our testbed.

• Type: Conference
• Year: 1999
• Where: ISER
• Authors: Howard Cannon, Sanjiv Singh
• Keywords: Excavator, Excavator Control Parameters, ISER 1999, Robotics, Soil Properties