| The objective of our tasks was to dig a trench with the designed shape autonomously, including loading the soil to the dump truck autonomously. The operation scenario was such that the excavator and dump truck traveled under remote control. After reaching their destination, the operation mode was switched to automatic mode.In this paper there are two part planning, one part is autonomous digging planning with trapezoid trajectory. Based on GPS information, Man-Machine interface and the terrain information coming from laser scanner, the continual excavation start point, the digging depth and width are generated automatically. Another is loading planning where the continual loading location is generated automatically based on the vessel information of the dump. At last, the experiments are finished. The key quantifiable benefits of this application include the liberation of human workers from many of the work processes, potential increase in work productivity, and significant labor savings. |
