TY - JOUR
T1 - Semi-autonomous operation of a mobile concrete pump
AU - Meiringer, Martin
AU - Kugi, Andreas
AU - Kemmetmüller, Wolfgang
PY - 2023
Y1 - 2023
N2 - The developments of mobile-concrete pumps steadily increase the complexity of their operation. At the same time, increasing computational power and sensor performance give rise to new smart assistance systems for the operator. This paper presents an optimization-based trajectory planning and motion control concept for a mobile concrete pump that can ensure secure support and obstacle avoidance during setup. The proposed concept allows to determine the truck's optimal support configuration and is able to plan the boom's unfolding and folding motion to desired target configurations. The effectiveness of the proposed concept is demonstrated by extensive simulation studies and experimental results on a real-world mobile concrete pump.
AB - The developments of mobile-concrete pumps steadily increase the complexity of their operation. At the same time, increasing computational power and sensor performance give rise to new smart assistance systems for the operator. This paper presents an optimization-based trajectory planning and motion control concept for a mobile concrete pump that can ensure secure support and obstacle avoidance during setup. The proposed concept allows to determine the truck's optimal support configuration and is able to plan the boom's unfolding and folding motion to desired target configurations. The effectiveness of the proposed concept is demonstrated by extensive simulation studies and experimental results on a real-world mobile concrete pump.
KW - Large-scale manipulator
KW - Mobile concrete pump
KW - Optimal support
KW - Time-optimal trajectory planning
KW - Trajectory following control
KW - Experimental validation
KW - Elastic multi-body system
U2 - 10.1016/j.autcon.2023.105079
DO - 10.1016/j.autcon.2023.105079
M3 - Article
SN - 0926-5805
VL - 156
JO - Automation in Construction
JF - Automation in Construction
M1 - 105079
ER -