A Proposed Architecture for Autonomous Operations in Backhoe Machines

In this work is developed an architecture which consists of four main components: perception system, tasks planning, motion planner, and control systems that allow autonomous operations in backhoe machines. In the first part is described the architecture of control system. A set of techniques for collision mapping of the scene is described and implemented. Moreover, a motion planning system based on Learning from Demonstration using Dynamic Movement Primitives as control policy is proposed, which allows backhoe machines to perform operations in autonomous manner. A statement of reasons is presented, wherein we justified the implementation of such motion system versus planners like A*, Probabilistic RoadMap (PRM), Rapidly-exploring Random Tree (RRT), etc. In addition, we present the performance of the architecture in a simulation environment.u