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Predictive Algorithm Based Control Method for Safe Operation of Excavators in a Restricted Area
Zongsheng Wang, Jiaqi Zheng, Kaixuan Xu, Fangzhen Zhang, Yulin Yang
55 - 61
10.3233/ATDE240222
Research Article
Advances in Transdisciplinary Engineering
Volume 53: Intelligent Equipment and Special Robots
Abstract

This paper proposes a control method for an excavator under a limited area, which designs a prediction algorithm based on the distance between the excavator and the obstacle. Through this method, it can be ensured to the maximum extent that the excavator will not have safety accidents due to human operation errors and other reasons. The method is validated on a tracked excavator, confirming the effectiveness of the algorithm. Field tests showed that the excavator joints could be stopped within 20cm of the obstacle and were only allowed to move in the direction away from the obstacle.

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