Safe Operation Trajectory Planning for Autonomous Excavators

Engineering notes

Key topics: autonomous driving, trajectory planning, planning, control. See the paper for implementation details and experimental results.

Chinese explanation / 中文解读

中文解读待补充：本站会优先为端到端自动驾驶、BEV感知、3D目标检测、轨迹预测、路径规划、LiDAR感知等高价值论文补充中文说明。

Original abstract

This paper conducts research on trajectory planning in the autonomous operation of hydraulic excavators, aiming to achieve efficient, safe, and energy-saving motion control through algorithmic implementation. A kinematic model of the excavator's working mechanism is established using the D-H parameter method, and the forward and inverse kinematic transformations between joint space and pose space are derived. A quintic polynomial interpolation method is proposed for point-to-point trajectory planning, with trajectory optimization performed using the Particle Swarm Optimization(PSO) algorithm. Additionally, collision detection is ensured through the Oriented Bounding Box(OBB) and Separating Axis Theorem(SAT) to guarantee trajectory safety. Taking the SANY SY215C excavator as the subject, numerical simulations verify the smoothness of joint angles, angular velocities, and end-effector trajectories during the soil unloading and transfer process. Practical trajectory tracking experiments are implemented on a real excavator using PID controllers. Results demonstrate that the proposed method effectively generates feasible trajectories satisfying mechanical constraints, while the upper computer program enables real-time monitoring and collision risk avoidance. This work provides theoretical support and practical validation for the intelligent and autonomous operation of hydraulic excavators.

Links and sources

• Official / arXiv page

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