Path Planning for Excavator Arm: Fuzzy Logic Control Approach
This paper proposes an algorithm to design the path for automated excavator arm. The path designing is divided into two phases. Firstly, the fuzzy logic technique is used to determine the change of the path to adapt with the variation of the material after each digging period. Secondly, the B-spline...
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| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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Wiley
2020-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2020/8893260 |
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| _version_ | 1832563417069649920 |
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| author | Nga Thi-Thuy Vu Nam Phuong Tran |
| author_facet | Nga Thi-Thuy Vu Nam Phuong Tran |
| author_sort | Nga Thi-Thuy Vu |
| collection | DOAJ |
| description | This paper proposes an algorithm to design the path for automated excavator arm. The path designing is divided into two phases. Firstly, the fuzzy logic technique is used to determine the change of the path to adapt with the variation of the material after each digging period. Secondly, the B-spline algorithm is used to build the optimal trajectory. By this, the excavator can maximize the dug weight although the shape of the material is variation. The effectiveness of the algorithm is verified through computer simulation and real-time experiment. The simulation and experimental results show that the generated optimal path keeps the dug weight around the expected value regardless of the change of the environment. |
| format | Article |
| id | doaj-art-33f7875b57ae47768871f89982ed2d7d |
| institution | Kabale University |
| issn | 1687-9600 1687-9619 |
| language | English |
| publishDate | 2020-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-33f7875b57ae47768871f89982ed2d7d2025-02-03T01:20:09ZengWileyJournal of Robotics1687-96001687-96192020-01-01202010.1155/2020/88932608893260Path Planning for Excavator Arm: Fuzzy Logic Control ApproachNga Thi-Thuy Vu0Nam Phuong Tran1School of Electrical Engineering, Hanoi University of Science and Technology, Hanoi, VietnamSchool of Electrical Engineering, Hanoi University of Science and Technology, Hanoi, VietnamThis paper proposes an algorithm to design the path for automated excavator arm. The path designing is divided into two phases. Firstly, the fuzzy logic technique is used to determine the change of the path to adapt with the variation of the material after each digging period. Secondly, the B-spline algorithm is used to build the optimal trajectory. By this, the excavator can maximize the dug weight although the shape of the material is variation. The effectiveness of the algorithm is verified through computer simulation and real-time experiment. The simulation and experimental results show that the generated optimal path keeps the dug weight around the expected value regardless of the change of the environment.http://dx.doi.org/10.1155/2020/8893260 |
| spellingShingle | Nga Thi-Thuy Vu Nam Phuong Tran Path Planning for Excavator Arm: Fuzzy Logic Control Approach Journal of Robotics |
| title | Path Planning for Excavator Arm: Fuzzy Logic Control Approach |
| title_full | Path Planning for Excavator Arm: Fuzzy Logic Control Approach |
| title_fullStr | Path Planning for Excavator Arm: Fuzzy Logic Control Approach |
| title_full_unstemmed | Path Planning for Excavator Arm: Fuzzy Logic Control Approach |
| title_short | Path Planning for Excavator Arm: Fuzzy Logic Control Approach |
| title_sort | path planning for excavator arm fuzzy logic control approach |
| url | http://dx.doi.org/10.1155/2020/8893260 |
| work_keys_str_mv | AT ngathithuyvu pathplanningforexcavatorarmfuzzylogiccontrolapproach AT namphuongtran pathplanningforexcavatorarmfuzzylogiccontrolapproach |