相关论文: Optimal Path Planning for Wheel Loader Automation …
To safely traverse non-flat terrain, robots must account for the influence of terrain shape in their planned motions. Terrain-aware motion planners use an estimate of the vehicle roll and pitch as a function of pose, vehicle suspension, and…
Connected and Automated Hybrid Electric Vehicles have the potential to reduce fuel consumption and travel time in real-world driving conditions. The eco-driving problem seeks to design optimal speed and power usage profiles based upon…
Accurate short-term forecasting of hauling-fleet capacity is crucial in open-pit mining, where weather fluctuations, mechanical breakdowns, and variable crew availability introduce significant operational uncertainties. We propose a…
Prediction and optimisation of a wheel loader's dynamic behaviour is a challenge due to tightly coupled, non-linear subsystems of different technical domains. Furthermore, a simulation regarding performance, efficiency, and operability…
This paper proposes a novel control method for an autonomous wheel loader, enabling time-efficient navigation to an arbitrary goal pose. Unlike prior works which combine high-level trajectory planners with Model Predictive Control (MPC), we…
Cost-maps are used by robotic vehicles to plan collision-free paths. The cost associated with each cell in the map represents the sensed environment information which is often determined manually after several trial-and-error efforts. In…
Autonomous terrain traversal of articulated tracked robots can reduce operator cognitive load to enhance task efficiency and facilitate extensive deployment. We present a novel hybrid trajectory optimization method aimed at generating…
This paper proposes a novel approach to motion planning and decision-making for automated vehicles, using a multi-modal Model Predictive Path Integral control algorithm. The method samples with Sobol sequences around the prior input and…
Effective Field Theories (EFTs) provide a framework for capturing the effects of yet unseen heavy degrees of freedom in a model-independent manner. However, constructing a complete and minimal set of operators, especially at higher mass…
In this paper, a complete eco-driving strategy for heavy-duty trucks (HDT) based on a finite number of driving modes with corresponding gear shifting is developed to cope with different route events and with road slope data. The problem is…
Soil compaction is critical in construction engineering to ensure the stability of structures like road embankments and earth dams. Traditional methods for determining optimum moisture content (OMC) and maximum dry density (MDD) involve…
Achieving energy-efficient trajectory planning for autonomous driving remains a challenge due to the limitations of model-agnostic approaches. This study addresses this gap by introducing an online nonlinear programming trajectory…
As the most important auxiliary transportation equipment in coal mines, mining electric locomotives are mostly operated manually at present. However, due to the complex and ever-changing coal mine environment, electric locomotive safety…
The complex nonlinear dynamics of hydraulic excavators, such as time delays and control coupling, pose significant challenges to achieving high-precision trajectory tracking. Traditional control methods often fall short in such applications…
Humans seamlessly fuse anticipatory planning with immediate feedback to perform successive mobile manipulation tasks without stopping, achieving both high efficiency and reliability. Replicating this fluid and reliable behavior in robots…
Developing intelligent energy management systems with high adaptability and superiority is necessary and significant for Hybrid Electric Vehicles (HEVs). This paper proposed an ensemble learning-based scheme based on a learning automata…
Force and torque sensing is crucial in robotic manipulation across both collaborative and industrial settings. Traditional methods for dynamics identification enable the detection and control of external forces and torques without the need…
The demand for high-fidelity numerical simulations in soil-structure interaction analysis is on the rise, yet a standardized workflow to guide the creation of such simulations remains elusive. This paper aims to bridge this gap by…
Despite over a decade of development, autonomous driving trajectory planning in complex urban environments continues to encounter significant challenges. These challenges include the difficulty in accommodating the multi-modal nature of…
In this paper, we present an efficient Dynamic Programing framework for optimal planning and control of legged robots. First we formulate this problem as an optimal control problem for switched systems. Then we propose a multi--level…