Hierarchische Planung für Autonome Maschinen für Verschiedene Aufgaben

Details

Veröffentlichungs-Nr.

EP4083335

Aktenzeichen

EP22190127

Anmeldetag

12. August 2022

Veröffentlichung

21. Februar 2024

Erteilung

21. Februar 2024

Rechtsraum

EP

IPC

E02F9/20E02F9/26G05D1/02

Abstract

Autonomous excavator has developed rapidly in recent years because of a shortage of labour and hazardous working environments for operating excavators. Presented herein are embodiments of a novel hierarchical planning system for autonomous machines, such as excavators. In one or more embodiments, the overall planning system comprises a high-level task planner for task division and base movement planning, and general sub-task planners with motion primitives, which include both arm and base movement in the case of an excavator. Using embodiments of the system architecture, experiments were performed for the trench and pile removal tasks in the real world and for the large-scale material loading tasks in a simulation environment. The results show that the system architecture embodiments and planner method embodiments generate effective task and motion plans that perform well in autonomous excavation.

Anmelder

Firma

Baidu USA LLC

Land

🇺🇸 USA

Fachgebiete