English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

In this paper, we present a minimal torque and time variable trajectoryoptimization method for autonomous excavator considering the soil-toolinteraction. The method formulates the excavation motion generation as atrajectory optimization problem and takes into account geometric, kinematic anddynamics constraints. To generate time-efficient trajectory and improve theoverall optimization efficiency, we propose a time variable trajectoryoptimization mechanism so that the time intervals between the keypoints alongthe trajectory subject to the optimization. As a result, the method uses fewkeypoints and reduces the total number of optimization variables. We furtherintroduce a soil-tool interaction force model, which considers the geometricshape of the bucket and the physical properties of the soil. The experimentalresult on a high fidelity dynamic simulator shows our method can generatefeasible trajectories, which satisfy excavation task constraints and areadaptive to different soil conditions.

Time Variable Minimum Torque Trajectory Optimization for Autonomous Excavator