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An automated digging control for a wheel loader

Published online by Cambridge University Press:  04 September 2001

Paul J. A. Lever
Paul J. A. Lever
Affiliation:
Advanced Mining Systems Laboratory, Mining and Geological Engineering Department, The University of Arizona, Tuscon, Arizona 85721 (USA)[email protected] The University of Queensland Experimental Mine, Isles Road, Indooroopilly, Qld 4068 (Australia); [email protected]
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Abstract

An Automated Digging Control System (ADCS) for a wheel loader is developed that utilizes a behavior-based control structure combined with fuzzy logic. This controller exhibits the real-time reactive responses necessary for executing digging tasks in an uncertain, unstructured and dynamic excavation environment. This paper presents field test results of a prototype ADCS that was developed and implemented on a Caterpillar 980G wheel loader. Test results show that the performance of the automated system is comparable to that of an expert human operator in a wide range of excavation situations.

Keywords

Fuzzy behavior controlAutomated diggingRobotic excavation
Type
Research Article
Information
Robotica , Volume 19 , Issue 5 , September 2001 , pp. 497 - 511
Copyright
© 2001 Cambridge University Press

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