Real-Time Motion Planning of a Hydraulic Excavator using Trajectory Optimization and Model Predictive Control
Dongjae Lee,Inkyu Jang,Jeonghyun Byun,Hoseong Seo,H. Jin Kim,Dongjae Lee,Inkyu Jang,Jeonghyun Byun,Hoseong Seo,H. Jin Kim
Automation of excavation tasks requires real-time trajectory planning satisfying various constraints. To guarantee both constraint feasibility and real-time trajectory re-plannability, we present an integrated framework for real-time optimization-based trajectory planning of a hydraulic excavator. The proposed framework is composed of two main modules: a global planner and a real-time local planne...
