Model Learning and Predictive Control for Autonomous Obstacle Reduction via Bulldozing
W. Jacob Wagner,Katherine Driggs-Campbell,Ahmet Soylemezoglu,W. Jacob Wagner,Katherine Driggs-Campbell,Ahmet Soylemezoglu
We investigate how employing model learning methods in concert with model predictive control (MPC) can be used to automate obstacle reduction to mitigate risks to Combat Engineers operating construction equipment in an active battlefield. We focus on the task of earthen berm removal using a bladed vehicle. We introduce a novel data-driven formulation for earthmoving dynamics that enables predictio...
