An automated digging control for a wheel loader

Lever, Paul J. A. (2001) An automated digging control for a wheel loader. Robotica, 19 5: 497-511.


Author Lever, Paul J. A.
Title An automated digging control for a wheel loader
Journal name Robotica   Check publisher's open access policy
ISSN 0263-5747
Publication date 2001
Sub-type Article (original research)
DOI 10.1017/S0263574701003435
Volume 19
Issue 5
Start page 497
End page 511
Total pages 15
Place of publication Port Chester
Publisher Cambridge Univ Press
Language eng
Subject 290701 Mining Engineering
Abstract An Automated Digging Control System (ADCS) for a wheel loader is developed that utilizes a behavior-based control structure combined with fuzzy logic. This controller exhibits the real-time reactive responses necessary for executing digging tasks in an uncertain, unstructured and dynamic excavation environment. This paper presents field test results of a prototype ADCS that was developed and implemented on a Caterpillar 980G wheel loader. Test results show that the performance of the automated system is comparable to that of an expert human operator in a wide range of excavation situations.
Keyword Robotics
fuzzy behavior control
automated digging
robotic excavation
Excavation
Q-Index Code C1
Q-Index Status Provisional Code
Institutional Status Unknown

Document type: Journal Article
Sub-type: Article (original research)
Collection: School of Mechanical & Mining Engineering Publications
 
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Created: Wed, 17 Oct 2007, 11:20:37 EST