実験データに基づいた掘削量-掘削距離のモデル化と評価

抄録

At disaster sites, teleoperation technology for construction machinery is necessary, and autonomous control is effective. In particular, a hydraulic excavator is required to dig the appropriate quantity of soil. We have designed a model of excavation volume and excavation distance focusing on the work, and proposed an autonomous control system that changes the excavation length to achieve the goal quantity. In this study, we present an improved method to solve some problems of the conventional method. In addition, we experimentally verify the effectiveness of the proposed method using a model of a hydraulic excavator, and show that it is more effective than the conventional method.