Receding horizon collision avoidance for large excavators

Kearney, M. P., Smith, Z. V. and McAree, P. R. (2015). Receding horizon collision avoidance for large excavators. In: Proceedings of the 14th IFToMM World Congress. 2015 IFToMM World Congress, Taipei, Taiwan, (106-112). 25-30 October 2015. doi:10.6567/IFToMM.14TH.WC.OS13.028

Attached Files (Some files may be inaccessible until you login with your UQ eSpace credentials)
Name Description MIMEType Size Downloads

Author Kearney, M. P.
Smith, Z. V.
McAree, P. R.
Title of paper Receding horizon collision avoidance for large excavators
Conference name 2015 IFToMM World Congress
Conference location Taipei, Taiwan
Conference dates 25-30 October 2015
Convener Shuo Hung Chang
Proceedings title Proceedings of the 14th IFToMM World Congress
Place of Publication Taipei, Taiwan
Publisher Department of Mechanical Engineering, National Taiwan University
Publication Year 2015
Sub-type Fully published paper
DOI 10.6567/IFToMM.14TH.WC.OS13.028
Open Access Status Not Open Access
ISBN 9789860460988
Start page 106
End page 112
Total pages 7
Collection year 2016
Language eng
Abstract/Summary This paper develops a receding horizon control based methodology as an operator support tool for large mining excavators. The system alters the operator command when necessary to avoid collisions, e.g. with trucks being loaded. We describe key aspects of the problem that must be mapped to the receding horizon framework to implement the technology. Specifically, a level-of-detail based approach is presented to map the object avoidance conditions into constraints on the state in a space conducive to control. The approach accounts for the non-predictive nature of the operator command. The efficacy of the resulting methodology is demonstrated in simulation.
Q-Index Code E1
Q-Index Status Confirmed Code
Institutional Status UQ

 
Versions
Version Filter Type
Citation counts: Google Scholar Search Google Scholar
Created: Tue, 10 Nov 2015, 08:36:56 EST by Dr Michael Kearney on behalf of School of Mechanical and Mining Engineering