大域的安定アトラクタの軌道補間に基づく連続領域の半自律掘削

抄録

Hydraulic excavators play a crucial role in construction operations, particularly in hazardous or complex environments. However, their operation presents significant risks, and the shortage of skilled operators further exacerbates logistical and economic challenges. Remote operation and unmanned construction technologies have been explored as solutions, yet efficiency remains a major concern, as remote operation efficiency is reported to be below 50% of direct operation. This paper proposes a semi-autonomous excavation system that integrates remote control with autonomous trajectory generation based on nonlinear dynamical systems. By introducing trajectory attractors, the system adapts to ex-cavation environments and autonomously generates excavation paths, reducing the operator’s workload. Additionally, the system allows flexible human intervention. Experimental validation demonstrates the system’s effectiveness in enabling continuous excavation while permitting intuitive operator adjustments, contributing to practical advancements in remote excavation technology.