Hostname: page-component-8448b6f56d-gtxcr Total loading time: 0 Render date: 2024-04-18T11:56:12.931Z Has data issue: false hasContentIssue false
  • English
  • Français

An automated digging control for a wheel loader

Published online by Cambridge University Press:  04 September 2001

Paul J. A. Lever
Paul J. A. Lever
Affiliation:
Advanced Mining Systems Laboratory, Mining and Geological Engineering Department, The University of Arizona, Tuscon, Arizona 85721 (USA)plever@mge.arizona.edu The University of Queensland Experimental Mine, Isles Road, Indooroopilly, Qld 4068 (Australia); p.lever@cmte.org.au
Get access Rights & Permissions [Opens in a new window]

Abstract

An Automated Digging Control System (ADCS) for a wheel loader is developed that utilizes a behavior-based control structure combined with fuzzy logic. This controller exhibits the real-time reactive responses necessary for executing digging tasks in an uncertain, unstructured and dynamic excavation environment. This paper presents field test results of a prototype ADCS that was developed and implemented on a Caterpillar 980G wheel loader. Test results show that the performance of the automated system is comparable to that of an expert human operator in a wide range of excavation situations.

Keywords

Fuzzy behavior controlAutomated diggingRobotic excavation
Type
Research Article
Information
Robotica , Volume 19 , Issue 5 , September 2001 , pp. 497 - 511
Copyright
© 2001 Cambridge University Press

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)