A cooperative methodology for multi-roller automation in pavement construction considering trajectory planning and collaborative operation

Intelligent compaction, particularly fully autonomous compaction, has emerged as a widely accepted innovative technology for enhancing compaction quality and efficiency. When multiple rollers are concurrently engaged in compaction within the same region, the trajectory planning for each roller and cooperative control become pivotal factors in ensuring efficient and safe compaction. This paper presents a comprehensive methodology framework for achieving safe and efficient cooperative operations in multi-roller automation application. Initially, conventional rollers are retrofitted with autonomous functionality, allowing them to automatically follow preset trajectories through a tracking control algorithm. A trajectory planning method is then proposed, tailored for multi-roller operations. Subsequently, a series of cooperative control strategies are outlined to determine the optimal timing for executing compaction tasks. Additionally, a cooperative control strategy is proposed for multi-roller operations, known as “move forward and backward together” control, which ensures the rollers initiate and cease movement without colliding. Finally, the proposed trajectory planning method and cooperative control strategies are validated through field tests conducted on a 100-m-long, 12-m-wide compaction test site. These tests include single-roller trials, two-roller-in-a-row experiments, and multi-roller cooperation tests. The average trajectory tracking error is maintained below 15 cm, and the effectiveness of the control strategies is demonstrated.