Expert-Emulating Excavation Trajectory Planning for Autonomous Robotic Industrial Excavator
Bukun Son,ChangU Kim,Changmuk Kim,Dongjun Lee,Bukun Son,ChangU Kim,Changmuk Kim,Dongjun Lee
We propose a novel excavation (i.e., digging) trajectory planning framework for industrial autonomous robotic excavators, which emulates the strategies of human expert operators to optimize the excavation of (complex/unmodellable) soils while also upholding robustness and safety in practice. First, we encode the trajectory with dynamic movement primitives (DMP), which is known to robustly preserve...
