Open-loop control experiments on driver assistance for crane forestry machines
A short term goal in the forest industry is semiautomation of existing machines for the tasks of logging and harvesting. One way to assist drivers is to provide a set of predefined trajectories that can be used repeatedly in the process. In recent years much effort has been directed to the design of control strategies and task planning as part of this solution. However, commercialization of such automatic schemes requires the installation of various sensing devices, computers and most of all a redesign of the machine itself, which is currently undesired by manufacturers. Here we present an approach of implementing predefined trajectories in an open-loop fashion, which avoids the complexity of sensor and computer integration. The experimental results are carried out on a commercial hydraulic crane to demonstrate that this solution is feasible in practice.
Trajectory generation open-loop control forestry machines
Daniel Ort(i)z Morales Simon Westerberg Pedro La Hera Uwe Mettin Leonid B. Freidovich Anton S. Shiriaev
Department of Applied Physics and Electronics,Ume(a) University,SE-901 87 Ume(a),Sweden Department of Engineering Cybernetics,Norwegian University of Science and Technology,NO-7491 Trondhe
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
1797-1802
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）