Technical Brief

Model-Based Control of Three Degrees of Freedom Robotic Bulldozing

[+] Author and Article Information
Scott G. Olsen

Department of Mechanical Engineering,
McMaster University,
Hamilton, ON, L8S 4L7, Canada
e-mail: olsensg@gmail.com

Gary M. Bone

Department of Mechanical Engineering,
McMaster University,
Hamilton, ON, L8S 4L7, Canada
e-mail: gary@mcmaster.ca

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC Systems, MEASUREMENT, AND CONTROL. Manuscript received June 11, 2012; final manuscript received October 24, 2013; published online December 2, 2013. Assoc. Editor: Evangelos Papadopoulos.

J. Dyn. Sys., Meas., Control 136(2), 024502 (Dec 02, 2013) (5 pages) Paper No: DS-12-1185; doi: 10.1115/1.4025861 History: Received June 11, 2012; Revised October 24, 2013

This brief paper investigates the control of a robotic bulldozing operation. Optimal blade position control laws were designed based on a hybrid dynamic model to maximize the predicted material removal rate of the bulldozing process. Experiments were conducted with a scaled-down robotic bulldozing system. The control laws were implemented with various tuning values. As a comparison, a rule-based blade control algorithm was also designed and implemented. The experimental results with the best optimal controller demonstrated a 33% increase in the average material removal rate compared to the rule-based controller.

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Grahic Jump Location
Fig. 3

Illustration of the discrete operation modes (excluding modes 8 and 9)

Grahic Jump Location
Fig. 2

Illustration of the state variables da, xb, zb, zc, φ, and ζ; and auxiliary variables ha, hb, and hc (note that Pb = [xb zb]T and Pc = [xc zc]T)

Grahic Jump Location
Fig. 1

Teleoperated bulldozer used for underground mining

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Fig. 4

Comparison of experimental results per pass

Grahic Jump Location
Fig. 5

Example of an experimental result for pass 3 with Ctrl1



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