Path Planning for Excavator Arm: Fuzzy Logic Control Approach
Joint Authors
Vu, Nga Thi-Thuy
Tran, Nam Phuong
Source
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-10, 10 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-11-21
Country of Publication
Egypt
No. of Pages
10
Main Subjects
Abstract EN
This paper proposes an algorithm to design the path for automated excavator arm.
The path designing is divided into two phases.
Firstly, the fuzzy logic technique is used to determine the change of the path to adapt with the variation of the material after each digging period.
Secondly, the B-spline algorithm is used to build the optimal trajectory.
By this, the excavator can maximize the dug weight although the shape of the material is variation.
The effectiveness of the algorithm is verified through computer simulation and real-time experiment.
The simulation and experimental results show that the generated optimal path keeps the dug weight around the expected value regardless of the change of the environment.
American Psychological Association (APA)
Vu, Nga Thi-Thuy& Tran, Nam Phuong. 2020. Path Planning for Excavator Arm: Fuzzy Logic Control Approach. Journal of Robotics،Vol. 2020, no. 2020, pp.1-10.
https://search.emarefa.net/detail/BIM-1190275
Modern Language Association (MLA)
Vu, Nga Thi-Thuy& Tran, Nam Phuong. Path Planning for Excavator Arm: Fuzzy Logic Control Approach. Journal of Robotics No. 2020 (2020), pp.1-10.
https://search.emarefa.net/detail/BIM-1190275
American Medical Association (AMA)
Vu, Nga Thi-Thuy& Tran, Nam Phuong. Path Planning for Excavator Arm: Fuzzy Logic Control Approach. Journal of Robotics. 2020. Vol. 2020, no. 2020, pp.1-10.
https://search.emarefa.net/detail/BIM-1190275
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1190275