Optimization of Grading Path Planning for an Autonomous Construction Machine

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門（英文）

発行日: 2020/09/01

タイトル(英語): Optimization of Grading Path Planning for an Autonomous Construction Machine

著者名: Kazuki Kuzu (Shibaura Institute of Technology), Fuga Ohashi (Shibaura Institute of Technology), Yutaka Uchimura (Shibaura Institute of Technology)

著者名(英語): Kazuki Kuzu (Shibaura Institute of Technology), Fuga Ohashi (Shibaura Institute of Technology), Yutaka Uchimura (Shibaura Institute of Technology)

キーワード: heavy construction equipment，genetic algorithm，optimal route search，simulation

要約(英語): The construction industry, which faces an aging workforce and shortages of skilled labor, presents attractive opportunities for autonomous heavy construction machinery. To achieve this goal, many difficulties must be overcome. Most of the problems are nonlinear and cannot be solved through convex optimization. Bulldozer operation presents especially difficult challenges, as it is a skilled trade and obtaining an operational method for bulldozers analytically is difficult. In this study, we optimized the route planning of a simulated bulldozer by using a genetic algorithm. To properly evaluate the solution candidates, we developed a simulator that emulates the dynamics of a sand mound. This paper describes the developed simulator and discusses the optimization of bulldozer paths on construction sites.

本誌: IEEJ Journal of Industry Applications Vol.9 No.5 （2020）

本誌掲載ページ: 497-504 p

原稿種別: 論文／英語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejjia/9/5/9_497/_article/-char/ja/