Compact Reachability Map for Excavator Motion Planning

Yajue Yang; Liangjun Zhang; Xinjing Cheng; Jia Pan; Ruigang Yang

doi:10.1109/IROS40897.2019.8968050

Compact Reachability Map for Excavator Motion Planning

Yajue Yang
, Liangjun Zhang
, Xinjing Cheng
, Jia Pan
, Ruigang Yang

Department of Biomedical Engineering

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

25 Citations (Scopus)

Abstract

In this paper, we propose a novel compact reachability map representation for excavator motion planning. The constructed reachability map can concisely encode the bucket's reachable pose and the translation capability limited by excavator's kinematic structure. By explicitly exploiting the property that the basic excavation motion lies on the excavation plane determined by excavator links, we further reduce the construction of the map from 3D Euclidean space to 2D excavation plane. We show the pre-computed reachability map can be used to develop new excavator motion planning approach. By indexing on the pre-computed reachability map, we can efficiently compute the feasible full-bucket trajectory for single step excavation operation. We highlight the results of the reachability map construction and demonstrate the simulation results of motion planning using a commercial dynamic simulator.

Original language	English
Title of host publication	2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Publisher	IEEE
Pages	2308-2313
ISBN (Electronic)	978-1-7281-4004-9
DOIs	https://doi.org/10.1109/IROS40897.2019.8968050
Publication status	Published - Nov 2019
Event	2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2019) - The Venetian Macao, Macau, China Duration: 4 Nov 2019 → 8 Nov 2019 https://www.iros2019.org/

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems
ISSN (Print)	2153-0858
ISSN (Electronic)	2153-0866

Conference

Conference	2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2019)
Abbreviated title	IROS 2019
Place	China
City	Macau
Period	4/11/19 → 8/11/19
Internet address	https://www.iros2019.org/

Bibliographical note

Full text of this publication does not contain sufficient affiliation information. With consent from the author(s) concerned, the Research Unit(s) information for this record is based on the existing academic department affiliation of the author(s).

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10.1109/IROS40897.2019.8968050

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title = "Compact Reachability Map for Excavator Motion Planning",

abstract = "In this paper, we propose a novel compact reachability map representation for excavator motion planning. The constructed reachability map can concisely encode the bucket's reachable pose and the translation capability limited by excavator's kinematic structure. By explicitly exploiting the property that the basic excavation motion lies on the excavation plane determined by excavator links, we further reduce the construction of the map from 3D Euclidean space to 2D excavation plane. We show the pre-computed reachability map can be used to develop new excavator motion planning approach. By indexing on the pre-computed reachability map, we can efficiently compute the feasible full-bucket trajectory for single step excavation operation. We highlight the results of the reachability map construction and demonstrate the simulation results of motion planning using a commercial dynamic simulator.",

author = "Yajue Yang and Liangjun Zhang and Xinjing Cheng and Jia Pan and Ruigang Yang",

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language = "English",

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Yang, Y, Zhang, L, Cheng, X, Pan, J & Yang, R 2019, Compact Reachability Map for Excavator Motion Planning. in 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)., 8968050, IEEE International Conference on Intelligent Robots and Systems, IEEE, pp. 2308-2313, 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2019), Macau, China, 4/11/19. https://doi.org/10.1109/IROS40897.2019.8968050

Compact Reachability Map for Excavator Motion Planning. / Yang, Yajue; Zhang, Liangjun; Cheng, Xinjing et al.
2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2019. p. 2308-2313 8968050 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

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AU - Yang, Ruigang

N1 - Full text of this publication does not contain sufficient affiliation information. With consent from the author(s) concerned, the Research Unit(s) information for this record is based on the existing academic department affiliation of the author(s).

PY - 2019/11

Y1 - 2019/11

N2 - In this paper, we propose a novel compact reachability map representation for excavator motion planning. The constructed reachability map can concisely encode the bucket's reachable pose and the translation capability limited by excavator's kinematic structure. By explicitly exploiting the property that the basic excavation motion lies on the excavation plane determined by excavator links, we further reduce the construction of the map from 3D Euclidean space to 2D excavation plane. We show the pre-computed reachability map can be used to develop new excavator motion planning approach. By indexing on the pre-computed reachability map, we can efficiently compute the feasible full-bucket trajectory for single step excavation operation. We highlight the results of the reachability map construction and demonstrate the simulation results of motion planning using a commercial dynamic simulator.

AB - In this paper, we propose a novel compact reachability map representation for excavator motion planning. The constructed reachability map can concisely encode the bucket's reachable pose and the translation capability limited by excavator's kinematic structure. By explicitly exploiting the property that the basic excavation motion lies on the excavation plane determined by excavator links, we further reduce the construction of the map from 3D Euclidean space to 2D excavation plane. We show the pre-computed reachability map can be used to develop new excavator motion planning approach. By indexing on the pre-computed reachability map, we can efficiently compute the feasible full-bucket trajectory for single step excavation operation. We highlight the results of the reachability map construction and demonstrate the simulation results of motion planning using a commercial dynamic simulator.

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Compact Reachability Map for Excavator Motion Planning

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