Design of a Data-Driven Cooperative Control System for Hydraulic Excavators

Abstract

The initiative of digital transformation (DX) in the infrastructure has been promoted to improve productivity at construction sites utilizing data and digital technologies. Research and development on autonomous excavators have been conducted in the DX. To achieve more productivity improvement, the cooperative construction by multiple autonomous machines is required. For realizing the construction method, utilizing operation and construction data collected in the data platform is effective. This paper presents a cooperative control system based on data-driven numerical optimization method to optimize motion plan of an autonomous excavator. The effectiveness of the proposed method is verified by a numerical simulation.