Terrain-adaptive motion planner for articulated construction vehicles in unstructured environments

IF 9.6 1区 工程技术 Q1 CONSTRUCTION & BUILDING TECHNOLOGY Automation in Construction Pub Date : 2024-11-13 DOI:10.1016/j.autcon.2024.105864
Tengchao Huang , Xuanwei Chen , Huosheng Hu , Shuang Song , Guifang Shao , Qingyuan Zhu
{"title":"Terrain-adaptive motion planner for articulated construction vehicles in unstructured environments","authors":"Tengchao Huang ,&nbsp;Xuanwei Chen ,&nbsp;Huosheng Hu ,&nbsp;Shuang Song ,&nbsp;Guifang Shao ,&nbsp;Qingyuan Zhu","doi":"10.1016/j.autcon.2024.105864","DOIUrl":null,"url":null,"abstract":"<div><div>In this paper, a terrain-adaptive motion planner is developed specifically for articulated construction vehicles (ACVs) to address instability issues caused by elevation changes on unstructured construction sites—challenges that traditional 2D motion planners struggle to manage effectively. The proposed planner adopts a modular framework, incorporating a terrain elevation model, an articulated vehicle kinematic model, and a posture response model. These models collaboratively capture the dynamic interactions between the vehicle and the terrain. The planner utilizes a multi-objective evaluation function to enhance the vehicle's 3D motion stability, especially in challenging terrains. By considering real-time vehicle-terrain interactions, this function estimates and optimizes the vehicle's stability. The planner's effectiveness is validated through field tests with a scaled-down ACV prototype, demonstrating significant improvements in stability and confirming its potential for practical application on unstructured terrains.</div></div>","PeriodicalId":8660,"journal":{"name":"Automation in Construction","volume":"168 ","pages":"Article 105864"},"PeriodicalIF":9.6000,"publicationDate":"2024-11-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Automation in Construction","FirstCategoryId":"5","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0926580524006009","RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"CONSTRUCTION & BUILDING TECHNOLOGY","Score":null,"Total":0}
引用次数: 0

Abstract

In this paper, a terrain-adaptive motion planner is developed specifically for articulated construction vehicles (ACVs) to address instability issues caused by elevation changes on unstructured construction sites—challenges that traditional 2D motion planners struggle to manage effectively. The proposed planner adopts a modular framework, incorporating a terrain elevation model, an articulated vehicle kinematic model, and a posture response model. These models collaboratively capture the dynamic interactions between the vehicle and the terrain. The planner utilizes a multi-objective evaluation function to enhance the vehicle's 3D motion stability, especially in challenging terrains. By considering real-time vehicle-terrain interactions, this function estimates and optimizes the vehicle's stability. The planner's effectiveness is validated through field tests with a scaled-down ACV prototype, demonstrating significant improvements in stability and confirming its potential for practical application on unstructured terrains.
查看原文
分享 分享
微信好友 朋友圈 QQ好友 复制链接
本刊更多论文
非结构化环境中铰接式工程车辆的地形自适应运动规划器
本文专门为铰接式工程车(ACV)开发了一种地形适应运动规划器,以解决非结构化建筑工地上高程变化引起的不稳定性问题--传统的二维运动规划器很难有效地应对这些挑战。拟议的规划器采用模块化框架,包含地形高程模型、铰接式车辆运动学模型和姿态响应模型。这些模型共同捕捉车辆与地形之间的动态交互。规划器利用多目标评估函数来增强车辆的三维运动稳定性,尤其是在具有挑战性的地形中。通过考虑车辆与地形的实时交互作用,该功能可估算并优化车辆的稳定性。通过对一辆缩小版 ACV 原型车进行实地测试,验证了该规划器的有效性,证明其稳定性有了显著提高,并证实了其在非结构化地形上的实际应用潜力。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
求助全文
约1分钟内获得全文 去求助
来源期刊
Automation in Construction
Automation in Construction 工程技术-工程:土木
CiteScore
19.20
自引率
16.50%
发文量
563
审稿时长
8.5 months
期刊介绍: Automation in Construction is an international journal that focuses on publishing original research papers related to the use of Information Technologies in various aspects of the construction industry. The journal covers topics such as design, engineering, construction technologies, and the maintenance and management of constructed facilities. The scope of Automation in Construction is extensive and covers all stages of the construction life cycle. This includes initial planning and design, construction of the facility, operation and maintenance, as well as the eventual dismantling and recycling of buildings and engineering structures.
期刊最新文献
Design and construction automation of reconfigurable timber slabs Knowledge graph for safety management standards of water conservancy construction engineering BIM-blockchain integrated automatic asset tracking and delay propagation analysis for prefabricated construction projects Automatic registration of large-scale building point clouds with high outlier rates Smart embedded technologies and materials for enhanced pavement management
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
0
微信
客服QQ
Book学术公众号 扫码关注我们
反馈
×
意见反馈
请填写您的意见或建议
请填写您的手机或邮箱
已复制链接
已复制链接
快去分享给好友吧!
我知道了
×
扫码分享
扫码分享
Book学术官方微信
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术
文献互助 智能选刊 最新文献 互助须知 联系我们:info@booksci.cn
Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。
Copyright © 2023 Book学术 All rights reserved.
ghs 京公网安备 11010802042870号 京ICP备2023020795号-1