Prediction of Backhoe Loading Behavior Using Non-Parametric Bayes Hidden Markov Model

Abstract

The objective of this paper is to model and predict the behavior of backhoe when working cooperatively with autonomous dump trucks. Specifically, this paper focuses on predicting when the backhoe operator is ready to load sand or gravel onto the dump truck. We employ Non-Parametric Bayes Hidden Markov Model to model the behavior of a human backhoe operator using data from sensors attached to the backhoe. This paper proposes a method to model the behavior of backhoe operators. Additionally, state transition of the constructed model is studied to discover a key transition that indicates that the backhoe operator is ready for loading.