Time Optimal Trajectory Planning of Excavator

Abstract

Using piece-wise polynomial interpolation method to plan the trajectory of the excavator's autonomous operation, there were some problems(the optimization trajectory is not smooth or the joints have unnecessary reciprocating movement)which leads to the large impact of the excavator joints and affects the service life of the excavator. In order to solve the problem of mining trajectory planning, the joint angle piece-wise interpolation strategy based on 4-3-3-3-4 polynomial is proposed to realize the optimal time trajectory planning of the excavator. Using the 4-3-3-3-4 polynomial, with angular velocity and angular acceleration as constraint conditions, the optimal value of interpolation time is obtained by using the differential evolution algorithm (DE), the optimal angle curve of each joint is achieved, and the optimal time trajectory planning of the excavator is realized. The simulation experiment based on 4-3-3-3-4 polynomial piece-wise interpolation strategy is carried out and compared with other polynomial interpolation strategies under the same conditions. The experimental results show that the mining trajectory of the polynomial interpolation strategy is smoother and the joints can reach the target point with small angular velocity and angular acceleration. It avoided the large impact during the operation of the joints and saved the working time, which made the excavator operate more smoothly and efficiently.