Semi-autonomous operation of a mobile concrete pump

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.