Bucket Loading Trajectory Optimization for the Automated Wheel Loader

Jie Yao; Connor P. Edson; Sencheng Yu; Gaonan Zhao; Zongxuan Sun; Xingyong Song; Kim A. Stelson

doi:10.1109/tvt.2023.3236507

Bucket Loading Trajectory Optimization for the Automated Wheel Loader

Jie Yao, Connor P. Edson, Sencheng Yu, Gaonan Zhao, Zongxuan Sun, Xingyong Song, Kim A. Stelson

Mechanical Engineering

Research output: Contribution to journal › Article › peer-review

Abstract

The bucket motion of a wheel loader during the loading process is investigated in this study. The optimal bucket loading trajectory can be obtained by solving an optimal control problem with the performance criteria of the fill factor, fuel efficiency and operation cycle time. A control-oriented model for the bucket loading operation is developed. Based on the control-oriented model, the bucket loading process is formulated as an optimal control problem with physical constraints. An open-source optimization solver, OpenOCL, is used to solve this problem. The simulation results show that the proposed method is effective in generating the optimal trajectory with significantly increased energy efficiency and productivity. This optimal trajectory can be employed as a reference for an automated wheel loader or as a driver advisory for a human operated wheel loader.

Original language	English (US)
Pages (from-to)	1-11
Number of pages	11
Journal	IEEE Transactions on Vehicular Technology
DOIs	https://doi.org/10.1109/tvt.2023.3236507
State	Accepted/In press - 2023

Bibliographical note

Publisher Copyright:
IEEE

Keywords

automatic loading
Fill factor (solar cell)
Fuels
Load modeling
Loading
Optimal control
optimal control
Torque
trajectory optimization
wheel loader
Wheels

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

Publisher link

10.1109/tvt.2023.3236507

Cite this

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title = "Bucket Loading Trajectory Optimization for the Automated Wheel Loader",

abstract = "The bucket motion of a wheel loader during the loading process is investigated in this study. The optimal bucket loading trajectory can be obtained by solving an optimal control problem with the performance criteria of the fill factor, fuel efficiency and operation cycle time. A control-oriented model for the bucket loading operation is developed. Based on the control-oriented model, the bucket loading process is formulated as an optimal control problem with physical constraints. An open-source optimization solver, OpenOCL, is used to solve this problem. The simulation results show that the proposed method is effective in generating the optimal trajectory with significantly increased energy efficiency and productivity. This optimal trajectory can be employed as a reference for an automated wheel loader or as a driver advisory for a human operated wheel loader.",

keywords = "automatic loading, Fill factor (solar cell), Fuels, Load modeling, Loading, Optimal control, optimal control, Torque, trajectory optimization, wheel loader, Wheels",

author = "Jie Yao and Edson, {Connor P.} and Sencheng Yu and Gaonan Zhao and Zongxuan Sun and Xingyong Song and Stelson, {Kim A.}",

note = "Publisher Copyright: IEEE",

year = "2023",

doi = "10.1109/tvt.2023.3236507",

language = "English (US)",

pages = "1--11",

journal = "IEEE Transactions on Vehicular Communications",

issn = "0018-9545",

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T1 - Bucket Loading Trajectory Optimization for the Automated Wheel Loader

AU - Yao, Jie

AU - Edson, Connor P.

AU - Yu, Sencheng

AU - Zhao, Gaonan

AU - Sun, Zongxuan

AU - Song, Xingyong

AU - Stelson, Kim A.

N1 - Publisher Copyright: IEEE

PY - 2023

Y1 - 2023

N2 - The bucket motion of a wheel loader during the loading process is investigated in this study. The optimal bucket loading trajectory can be obtained by solving an optimal control problem with the performance criteria of the fill factor, fuel efficiency and operation cycle time. A control-oriented model for the bucket loading operation is developed. Based on the control-oriented model, the bucket loading process is formulated as an optimal control problem with physical constraints. An open-source optimization solver, OpenOCL, is used to solve this problem. The simulation results show that the proposed method is effective in generating the optimal trajectory with significantly increased energy efficiency and productivity. This optimal trajectory can be employed as a reference for an automated wheel loader or as a driver advisory for a human operated wheel loader.

AB - The bucket motion of a wheel loader during the loading process is investigated in this study. The optimal bucket loading trajectory can be obtained by solving an optimal control problem with the performance criteria of the fill factor, fuel efficiency and operation cycle time. A control-oriented model for the bucket loading operation is developed. Based on the control-oriented model, the bucket loading process is formulated as an optimal control problem with physical constraints. An open-source optimization solver, OpenOCL, is used to solve this problem. The simulation results show that the proposed method is effective in generating the optimal trajectory with significantly increased energy efficiency and productivity. This optimal trajectory can be employed as a reference for an automated wheel loader or as a driver advisory for a human operated wheel loader.

KW - automatic loading

KW - Fill factor (solar cell)

KW - Fuels

KW - Load modeling

KW - Loading

KW - Optimal control

KW - optimal control

KW - Torque

KW - trajectory optimization

KW - wheel loader

KW - Wheels

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ER -

Bucket Loading Trajectory Optimization for the Automated Wheel Loader

Abstract

Bibliographical note

Keywords

UN SDGs

Publisher link

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