環境適応型自動運転ショベルのデータベース駆動型モデル予測制御系

抄録

The initiative of Digital Transformation (DX) in the field of infrastructure has been more and more active. In the DX, research and development of autonomous construction machinery, especially autonomous excavators, has been carried out with the aim of improving productivity. In excavation of soil, the motion of the hydraulic excavator is affected by the characteristics of the soil. Therefore, it is necessary to apply control system in consideration of the characteristics of the work object to the autonomous excavator that can realize desired operation at various sites. On the other hand, Database-Driven Model Predictive Control (DD-MPC) considering the change of the controlled object has been developed by authors. This paper presents the method to apply DD-MPC system to the autonomous excavator. The effectiveness of the proposed method is verified by a simulation.