Path planning for a backhoe moving over modified terrain that is difficult to travel over

Abstract

In order to restore the transportation network of goods and work vehicles blocked by landslides, it is effective to construct a temporary road by backhoe. Automation of the backhoe requires environmental measurements, path planning that involves modifying a rough terrain to reach the destination, and motion planning that performs the construction according to the plan. However it was unachieved to plan path and excavation to reach the destination with modifying terrain. Here we developed to simultaneously plan routes that satisfy the conditions and target modified terrain, allowing the selection of modification and movement policies according to the terrain to the destination by introducing cost function of distance, slope and the amount of excavation.