The low-level modeling and control of mobile robots that interact forcibly with their environment, such as robotic excavation machinery, is a challenging problem that has not been adequately addressed in prior research. This paper investigates the low-level modeling of robotic bulldozing. The proposed model characterizes the three primary degrees-of-freedom (DOF) of the bulldozer, the blade position, the material accumulation on the blade, and the material distribution in the environment. It includes discrete operation modes contained within a hybrid dynamic model framework. The dynamics of the individual modes are represented by a set of linear and nonlinear differential equations. An instrumented scaled-down bulldozer and environment are developed to emulate the full scale operation. Model parameter estimation and validation are completed using experimental data from this system. The model is refined based on a global sensitivity analysis. The refined model is suitable for simulation and design of robotic bulldozing control strategies.
Development of a Hybrid Dynamic Model and Experimental Identification of Robotic Bulldozing
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received December 15, 2011; final manuscript received September 25, 2012; published online December 21, 2012. Assoc. Editor: Evangelos Papadopoulos.
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Olsen, S. G., and Bone, G. M. (December 21, 2012). "Development of a Hybrid Dynamic Model and Experimental Identification of Robotic Bulldozing." ASME. J. Dyn. Sys., Meas., Control. March 2013; 135(2): 021015. https://doi.org/10.1115/1.4023061
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