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Conference Paper: Compact reachability map for excavator motion planning

TitleCompact reachability map for excavator motion planning
Authors
KeywordsRobotics in Construction
Motion and Path Planning
Issue Date2019
Citation
2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, China, 4-8 November 2019 How to Cite?
AbstractIn this paper, we propose a novel compact reachability map representation for excavator motion planning. By explicitly exploiting the property that the basic excavation motion lies on the excavation plane determined by excavator links, we reduce the construction of the map from 3D Euclidean space to 2D excavation plane. The constructed reachability map can concisely encode the bucket's reachable pose and the translation capability limited by excavator's kinematic property. We show the pre-computed reachability map can be used to develop new excavator motion planning approach. By indexing on the pre-computed reachability map, we can efficiently compute the feasible full-bucket trajectory for single step excavation operation. We highlight the results of the reachability map construction and demonstrate the simulation results of motion planning using a commercial dynamic simulator.
DescriptionTuCT14 Regular session: Robotics in Construction - Paper TuCT14.4
Persistent Identifierhttp://hdl.handle.net/10722/273024

 

DC FieldValueLanguage
dc.contributor.authorYang, YJ-
dc.contributor.authorZhang, LJ-
dc.contributor.authorCheng, XJ-
dc.contributor.authorPan, J-
dc.contributor.authorYang, RG-
dc.date.accessioned2019-08-06T09:21:07Z-
dc.date.available2019-08-06T09:21:07Z-
dc.date.issued2019-
dc.identifier.citation2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, China, 4-8 November 2019-
dc.identifier.urihttp://hdl.handle.net/10722/273024-
dc.descriptionTuCT14 Regular session: Robotics in Construction - Paper TuCT14.4-
dc.description.abstractIn this paper, we propose a novel compact reachability map representation for excavator motion planning. By explicitly exploiting the property that the basic excavation motion lies on the excavation plane determined by excavator links, we reduce the construction of the map from 3D Euclidean space to 2D excavation plane. The constructed reachability map can concisely encode the bucket's reachable pose and the translation capability limited by excavator's kinematic property. We show the pre-computed reachability map can be used to develop new excavator motion planning approach. By indexing on the pre-computed reachability map, we can efficiently compute the feasible full-bucket trajectory for single step excavation operation. We highlight the results of the reachability map construction and demonstrate the simulation results of motion planning using a commercial dynamic simulator.-
dc.languageeng-
dc.relation.ispartofIEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)-
dc.subjectRobotics in Construction-
dc.subjectMotion and Path Planning-
dc.titleCompact reachability map for excavator motion planning-
dc.typeConference_Paper-
dc.identifier.emailPan, J: jpan@cs.hku.hk-
dc.identifier.authorityPan, J=rp01984-
dc.identifier.hkuros300347-
dc.publisher.placeMacau, China-

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