半自律掘削制御系における次元の異なるリーダ・フォロワバイラテラル制御系の設計

抄録

Semi-autonomous control of a hydraulic excavator at disaster site and construction site are required from the safety and efficiency points of view, and some autonomous controls have been reported so far. To apply these methods to semi-autonomy, human-machine cooperation is an important issue, which avoids the conflict between human and machine input. However, in the conventional method, the human operator does not recognize how the autonomy is going to move because of the limitations of information that can be presented. In this study, we design a leader-follower semi-autonomous excavation system using an actively operated joystick as a leader system. Based on the difference of controlled dimension between joystick and excavator, the state of the follower, external forces and input of the autonomous system are presented using both position and compliance of the joystick. The effectiveness of the proposed method is evaluated by experiments.