Receding Horizon Collision Avoidance for Large Excavators

M. P. Kearney ； Z. V. Smith ； P. R. McAree

《Proceedings of the 14th IFToMM World Congress》 14th-3 (2015/10) Pp. 106-112

https://doi.org/10.6567/IFToMM.14TH.WC.OS13.028

並列摘要

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.

並列關鍵字

model predictive control ； mining automation ； manmachine systems ； collision control