Article | Proceedings of The 9th EUROSIM Congress on Modelling and Simulation, EUROSIM 2016, The 57th SIMS Conference on Simulation and Modelling SIMS 2016 | Investigation of Robotic Material Loading Strategies using an Earthmoving Simulator Linköping University Electronic Press Conference Proceedings
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Title:
Investigation of Robotic Material Loading Strategies using an Earthmoving Simulator
Author:
Eric Halbach: Department of Electrical Engineering and Automation, Aalto University, Finland Aarne Halme: Department of Electrical Engineering and Automation, Aalto University, Finland Ville Kyrki: Department of Electrical Engineering and Automation, Aalto University, Finland
DOI:
10.3384/ecp171421102
Download:
Full text (pdf)
Year:
2018
Conference:
Proceedings of The 9th EUROSIM Congress on Modelling and Simulation, EUROSIM 2016, The 57th SIMS Conference on Simulation and Modelling SIMS 2016
Issue:
142
Article no.:
162
Pages:
1102-1108
No. of pages:
7
Publication type:
Abstract and Fulltext
Published:
2018-12-19
ISBN:
978-91-7685-399-3
Series:
Linköping Electronic Conference Proceedings
ISSN (print):
1650-3686
ISSN (online):
1650-3740
Publisher:
Linköping University Electronic Press, Linköpings universitet


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A kinematic earthmoving simulation environment was used to investigate job planning strategies which could increase the performance of automated material loading with a robotic compact skid-steered wheel loader. One new problem studied was the subdivision of a larger rectangular workspace using the smaller rectangular Scoop Area (SA). Two methods for selecting scooping approach vectors were also compared: a Zero Contour (ZC) method which assesses all possible perpendicular approaches along the bottom of the slope, and the proposed alternative High Point (HP) method which scoops towards the highest point in the current workspace from a ?xed point. Three jobs were simulated to determine which scooping method and SA dimensions resulted in the highest excavation rate in a truck loading scenario. Assuming the same scoop ?lling effectiveness, the HP method was found to offer a higher rate than the ZC method due to its more limited driving envelope. The maximum HP rates were achieved with SA dimensions which were narrower and longer than with the ZC method, while the optimal SA dimensions were also found to be dependent on the job parameters. When a higher amount of material to excavate per area was present, smaller SAs resulted in higher rates.

Keywords: automation, robotics, earthmoving, excavation, wheel loader, simulation, job planning

Proceedings of The 9th EUROSIM Congress on Modelling and Simulation, EUROSIM 2016, The 57th SIMS Conference on Simulation and Modelling SIMS 2016

Author:
Eric Halbach, Aarne Halme, Ville Kyrki
Title:
Investigation of Robotic Material Loading Strategies using an Earthmoving Simulator
DOI:
http://dx.doi.org/10.3384/ecp171421102
References:
No references available

Proceedings of The 9th EUROSIM Congress on Modelling and Simulation, EUROSIM 2016, The 57th SIMS Conference on Simulation and Modelling SIMS 2016

Author:
Eric Halbach, Aarne Halme, Ville Kyrki
Title:
Investigation of Robotic Material Loading Strategies using an Earthmoving Simulator
DOI:
https://doi.org10.3384/ecp171421102
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Citations:
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Last updated: 2019-10-02