论文标题
时间变量最小扭矩轨迹优化用于自动挖掘机
Time Variable Minimum Torque Trajectory Optimization for Autonomous Excavator
论文作者
论文摘要
在本文中，我们提出了一种最小的扭矩和时间变量的轨迹优化方法，用于考虑土壤工具相互作用的自动挖掘机。该方法将发掘运动生成作为轨迹优化问题，并考虑到几何，运动学和动态约束。为了生成时间效率的轨迹并提高整体优化效率，我们提出了一个时间变量轨迹优化机制，以便沿轨迹沿轨迹的关键点之间的时间间隔受到优化。结果，该方法使用的关键点很少，并减少了优化变量的总数。我们进一步引入了土壤工厂相互作用力模型，该模型考虑了水桶的几何形状和土壤的物理特性。高保真动态模拟器的实验结果表明，我们的方法可以生成可行的轨迹，该轨迹满足了开挖任务的约束，并且适应了不同的土壤条件。
In this paper, we present a minimal torque and time variable trajectory optimization method for autonomous excavator considering the soil-tool interaction. The method formulates the excavation motion generation as a trajectory optimization problem and takes into account geometric, kinematic and dynamics constraints. To generate time-efficient trajectory and improve the overall optimization efficiency, we propose a time variable trajectory optimization mechanism so that the time intervals between the keypoints along the trajectory subject to the optimization. As a result, the method uses few keypoints and reduces the total number of optimization variables. We further introduce a soil-tool interaction force model, which considers the geometric shape of the bucket and the physical properties of the soil. The experimental result on a high fidelity dynamic simulator shows our method can generate feasible trajectories, which satisfy excavation task constraints and are adaptive to different soil conditions.
