NDLI: Online Soil-bucket Interaction Identification for Autonomous Excavation

Content Provider	IEEE Xplore Digital Library
Author	ChooPar Tan Zweiri, Y.H. Althoefer, K. Seneviratne, L.D.
Copyright Year	2005
Description	Author affiliation: Department ofMechanical Engineering King's College London Strand, London WC2R 2LS, UK; choo.p.tan@kc1.ac.uk (ChooPar Tan)
Abstract	Online identification of soil-bucket interaction is significant for the development of an autonomous excavation strategy. This paper presents a method for identifying multiple unknown soil parameters in real-time using the novel Modified Newton Raphson Method. The new approach involving a model selection strategy based on Parallel Execution Model, Flexible Parallel Execution Model and Hybrid Execution Model consisting of the Mohr-Coulomb soil model and the Chen and Liu Upper Bound soil model is examined. The identification of unknown soil parameters is achieved by minimizing the error between the measured forces and the modeled forces computed by the soil model. The results demonstrate that the proposed estimation scheme is accurate when comparing to the measured soil parameters. In addition, the reduced processing time of convergence and high robustness with respect to initial conditions show that the proposed method has real time estimation capability. The proposed method is very promising and highly suitable for soil-bucket interaction identification for an autonomous excavation system in an unpredictable, dynamic environment.
Starting Page	3576
Ending Page	3581
File Size	2649057
Page Count	6
File Format	PDF
ISBN	078038914X
DOI	10.1109/ROBOT.2005.1570664
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-04-18
Publisher Place	Spain
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Parameter estimation Educational institutions Soil measurements Finite element methods Robotics and automation Vehicles Agricultural engineering Upper bound Force measurement Convergence hybrid model Autonomous excavation soil-bucket interaction soil parameter estimation Newton Raphson method
Content Type	Text
Resource Type	Article

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