Work

Complete‐coverage trenching trajectory planning for excavators via reachability and excavation force maps

Year: 2025

Type: article

Abstract: Current trenching trajectory planning methods for autonomous excavators primarily focus on a single cycle, lacking overall optimization of the entire task. This study proposes an offline method for overall optimization of trenching trajectories via reachability and excavation force maps. This method can generate a complete set of trajectories that covers the entire target trench area and satisfies the excavation force requirements without relying on expert demonstration data, which is conducive to improving the overall trenching efficiency. First, a base-position selection method that considers both force and pose requirements is proposed. Second, rules for generating key points of trenching trajectories are established. Subsequently, an overall optimization method for all trajectories covering the entire trench area is proposed. Finally, a prototype and an experimental scenario were built, and trenching experiments on four trench shapes are conducted. The results demonstrate that the planning process is completed within a few minutes, and the trench profiles obtained from the trenching experiments closely match the target shapes.

Source: Computer-Aided Civil and Infrastructure Engineering

DOI: 10.1111/mice.70138

Authors: Zhe Suo, Xiang Li, Zhenyu Xu, Jianfeng Liu, Jixin Wang, Jianhua Wang

Institution: Jilin University

Language: English

Topic: Soil Mechanics and Vehicle Dynamics

Subfield: Civil and Structural Engineering

Field: Engineering

Domain: Physical Sciences

SDG: Industry, innovation and infrastructure

Open Access status: hybrid

Estimated APC paid: $5,230