Multi-objective Excavation Trajectory Optimization for Intelligent Electric Shovel Based on ROS

Abstract

Electric shovel is a large-scale excavation equipment, which often suffer from discontinuous and inefficient excavation due to complicated mine condition. To address these challenges, a multi-objective optimization strategy for electric shovel is proposed to achieve an efficient, stable and intelligent operation. Firstly, the dynamical model of the electric shovel system is established based on Lagrange method. Then, the minimum energy consumption per volume and minimum relief angle difference are regarded as the optimization formulation considering multiple system constraints. Finally, the strategy is applied to the ROS-based intelligent prototype of shovel to verify the effectiveness. The results show that the multi-objective optimization strategy of the excavation trajectory has great guiding significance for the design of the intelligent electric shovel.