Multi-helical attractor design for sequential excavation in semi-autonomous control

Abstract

So far, we have designed an autonomous system using an orbit attractor and it has been applied to a semi-autonomous excavation control system adding human operation. However, this method can only realize a single trajectory, and in the real work sites, excavation proceeds sequentially by shifting the excavation position. In this research, we design a multi-helix attractor with an extended dimension for an autonomous system that can realize sequential excavation with constant spacing. In addition, we design an autonomous system with an infinite number of helices and a cylindrical surface as the attractor so that the excavation position can be changed by human operation when excavation is insufficient, and excavation can then be performed again at equally spaced intervals. We also design an interface to change the state variable by human operation using Extended Kalman Filter. Moreover, we verify the effectiveness of the proposed method through experiments.