This brief paper investigates the control of a robotic bulldozing operation. Optimal blade position control laws were designed based on a hybrid dynamic model to maximize the predicted material removal rate of the bulldozing process. Experiments were conducted with a scaled-down robotic bulldozing system. The control laws were implemented with various tuning values. As a comparison, a rule-based blade control algorithm was also designed and implemented. The experimental results with the best optimal controller demonstrated a 33% increase in the average material removal rate compared to the rule-based controller.
Model-Based Control of Three Degrees of Freedom Robotic Bulldozing
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC Systems, MEASUREMENT, AND CONTROL. Manuscript received June 11, 2012; final manuscript received October 24, 2013; published online December 2, 2013. Assoc. Editor: Evangelos Papadopoulos.
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Olsen, S. G., and Bone, G. M. (December 2, 2013). "Model-Based Control of Three Degrees of Freedom Robotic Bulldozing." ASME. J. Dyn. Sys., Meas., Control. March 2014; 136(2): 024502. https://doi.org/10.1115/1.4025861
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