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Computational exploration of robotic rock loading
Umeå University, Faculty of Science and Technology, Department of Mathematics and Mathematical Statistics.
Umeå University, Faculty of Science and Technology, Department of Physics.ORCID iD: 0000-0002-0787-4988
2018 (English)In: Robotics and Autonomous Systems, ISSN 0921-8890, E-ISSN 1872-793XArticle in journal (Refereed) Accepted
Abstract [en]

A method for simulation-based development of robotic rock loading systems is described and tested. The idea is to first formulate a generic loading strategy as a function of the shape of the rock pile, the kinematics of the machine and a set of motion design variables that will be used by the autonomous control system. The relation between the loading strategy and resulting performance is then explored systematically using contacting multibody dynamics simulation, multiobjective optimisation and surrogate modelling. With the surrogate model it is possible to find Pareto optimal loading strategies for dig plans that are adapted to the current shape of the pile. The method is tested on a load-haul-dump machine loading from a large muck pile in an underground mine, with the loading performance measured by productivity, machine wear and rock debris spill that cause interruptions.

Place, publisher, year, edition, pages
Elsevier, 2018.
Keywords [en]
robotic excavation, autonomous loading, rock pile, multibody dynamics, discrete element, surrogate modelling
National Category
Robotics
Research subject
Computer Science; Physics; Mathematics; Automatic Control
Identifiers
URN: urn:nbn:se:umu:diva-147237DOI: 10.1016/j.robot.2018.04.010OAI: oai:DiVA.org:umu-147237DiVA, id: diva2:1202656
Funder
VINNOVA, 2014-01901Available from: 2018-04-28 Created: 2018-04-28 Last updated: 2018-06-09

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Lindmark, Daniel M.Servin, Martin

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