Simulation and control of an autonomous bucket excavator for landscaping tasks

Abstract

Introducing autonomous machines to construction areas can improve many of the occurring processes. Therefore, this paper deals with problems in the field of creating an autonomous bucket excavator. A novel behavior-based approach for motion control is presented which allows natural boom trajectories, achieves good environment disturbance compensation behavior, guarantees safety of the movements concerning human beings and structures, and keeps a high extensibility of the system for future improvements. Furthermore, a simulation of soil deals as the basis for safe tests of the excavator's behavior in a simulated dynamic environment.