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robotic excavation

Robotica (1)

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An automated digging control for a wheel loader
Paul J. A. Lever
Journal:

Robotica / Volume 19 / Issue 5 / September 2001

Published online by Cambridge University Press:

04 September 2001, pp. 497-511
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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.