Semi-autonomous operation of a mobile concrete pump

被引：3
|
作者：
Meiringer, M. [1 ]
Kugi, A. [1 ,2 ]
Kemmetmueller, W. [1 ]
机构：
[1] TU Wien, Automat & Control Inst ACIN, Vienna, Austria
[2] Austrian Inst Technol AIT, Vienna, Austria
来源：
AUTOMATION IN CONSTRUCTION | 2023年 / 156卷
关键词：
Large-scale manipulator; Mobile concrete pump; Optimal support; Time -optimal trajectory planning; Trajectory following control; Experimental validation; Elastic multi -body system; LARGE-SCALE MANIPULATORS; STABILITY; MARGIN;
D O I：
10.1016/j.autcon.2023.105079
中图分类号：
TU [建筑科学];
学科分类号：
0813 ;
摘要：
The developments of mobile-concrete pumps steadily increase the complexity of their operation. At the same time, increasing computational power and sensor performance give rise to new smart assistance systems for the operator. This paper presents an optimization-based trajectory planning and motion control concept for a mobile concrete pump that can ensure secure support and obstacle avoidance during setup. The proposed concept allows to determine the truck's optimal support configuration and is able to plan the boom's unfolding and folding motion to desired target configurations. The effectiveness of the proposed concept is demonstrated by extensive simulation studies and experimental results on a real-world mobile concrete pump.
引用
收藏
页数：13
相关论文
共 50 条
  • [31] A semi-autonomous wheelchair with HelpStar
    Uchiyama, H
    Deligiannidis, L
    Potter, WD
    Wimpey, BJ
    Barnhard, D
    Deng, R
    Radhakrishnan, S
    INNOVATIONS IN APPLIED ARTIFICIAL INTELLIGENCE, 2005, 3533 : 809 - 818
  • [32] SEMI-AUTONOMOUS TELEOPERATION OF MULTIPLE WHEELED MOBILE ROBOTS OVER THE INTERNET
    Lee, Dongjun
    PROCEEDINGS OF THE ASME DYNAMIC SYSTEMS AND CONTROL CONFERENCE 2008, PTS A AND B, 2009, : 629 - 636
  • [33] Secondary task and Situation Awareness, a mobile application for semi-autonomous vehicle
    Capallera, Marine
    Meteier, Quentin
    de Salis, Emmanuel
    Angelini, Leonardo
    Carrino, Stefano
    Abou Khaled, Omar
    Mugellini, Elena
    IHM'19: PROCEEDINGS OF THE 31ST CONFERENCE ON L'INTERACTION HOMME-MACHINE, 2019,
  • [34] SEMI-AUTONOMOUS PRODUCTION GROUPS
    BERNOUX, P
    RUFFIER, J
    SOCIOLOGIE DU TRAVAIL, 1974, 74 (04) : 383 - 400
  • [35] Semi-autonomous robotic manipulation
    Kelley, RB
    SMC '97 CONFERENCE PROCEEDINGS - 1997 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS, VOLS 1-5: CONFERENCE THEME: COMPUTATIONAL CYBERNETICS AND SIMULATION, 1997, : 1759 - 1764
  • [36] Semi-Autonomous Intersection Management
    Au, Tsz-Chiu
    Zhang, Shun
    Stone, Peter
    AAMAS'14: PROCEEDINGS OF THE 2014 INTERNATIONAL CONFERENCE ON AUTONOMOUS AGENTS & MULTIAGENT SYSTEMS, 2014, : 1451 - 1452
  • [37] Effective semi-autonomous telepresence
    Coltin, Brian
    Biswas, Joydeep
    Pomerleau, Dean
    Veloso, Manuela
    Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), 2012, 7416 LNCS : 365 - 376
  • [38] EXPERIENCE WITH SEMI-AUTONOMOUS GROUPS
    RUFFIER, J
    TRAVAIL HUMAIN, 1977, 40 (02): : 350 - 351
  • [39] Semi-autonomous Operation of Tracked Vehicles on Rough Terrain using Autonomous Control of Active Flippers
    Okada, Yoshito
    Nagatani, Keiji
    Yoshida, Kazuya
    2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, 2009, : 2815 - 2820
  • [40] Constraint-Based Planning and Control for Safe, Semi-Autonomous Operation of Vehicles
    Anderson, Sterling J.
    Karumanchi, Sisir B.
    Iagnemma, Karl
    2012 IEEE INTELLIGENT VEHICLES SYMPOSIUM (IV), 2012, : 383 - 388
12345