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Path optimization for a wheel loader considering construction site terrain
KTH, School of Architecture and the Built Environment (ABE), Civil and Architectural Engineering.
KTH, School of Architecture and the Built Environment (ABE), Civil and Architectural Engineering.
2018 (English)In: 2018 IEEE Intelligent Vehicles Symposium (IV), Changshu, Suzhou, China, 26-30 June 2018, Changshu, China: IEEE, 2018, p. 2098-2103Conference paper, Oral presentation with published abstract (Refereed)
Abstract [en]

Wheel loader is one of the most widely used heavy-duty vehicles for transporting building materials in construction site. Improvement of its efficiency is important for sustainable transport and construction operations. This paper proposes a path optimization approach that allows us to plan loader trajectory and corresponding vehicle motions in construction site when the topological relief information is available. Vehicle dynamics is modeled for 3D motions considering the power balance of vehicle propulsion. The path planning problem is then formulated using a framework of constrained optimal control where vehicle dynamics is incorporated as system constraints. In order to solve the problem, a discrete search method is developed based on the principle of dynamic programming (DP), in which the states of the forward and backward movement paths of wheel loader are explored in parallel. A numerical study is then presented to demonstrate the application of the proposed approach for optimizing the loader path using terrain information.

Place, publisher, year, edition, pages
Changshu, China: IEEE, 2018. p. 2098-2103
Keywords [en]
wheel loader; construction site terrain; path planning problem; dynamic programming
National Category
Transport Systems and Logistics
Research subject
Transport Science
Identifiers
URN: urn:nbn:se:kth:diva-241691DOI: 10.1109/IVS.2018.8500447Scopus ID: 2-s2.0-85056754439ISBN: 978-1-5386-4453-9 (print)ISBN: 978-1-5386-4452-2 (electronic)OAI: oai:DiVA.org:kth-241691DiVA, id: diva2:1282366
Conference
2018 IEEE Intelligent Vehicles Symposium (IV)
Note

QC 20190130

Available from: 2019-01-24 Created: 2019-01-24 Last updated: 2019-01-30Bibliographically approved

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Hong, BeichuanMa, Xiaoliang

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CiteExportLink to record
Permanent link

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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
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