Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : May 29, 2024 - June 01, 2024
Automated blade control for bulldozers have been developed. Development of those control methods requires algorithm modification and parameter tuning. Verifying those tries in real world takes much time and cost. This paper presents a novel bulldozer simulator which can be used for validating the control methods. It simulates physical characteristics of a bulldozer (e.g. engine performance, crawler torque, blade behavior). These characteristics are modeled based on the design data of the target bulldozer. The simulator also simulates interactions between a bulldozer and soil. The soil is modeled as particles. To evaluate the proposed simulator, excavation experiments are performed in the simulator and real world, respectively. The reproducibility of the simulator is evaluated by comparing those results.
