Meiringer, M., Kugi, A., & Kemmetmüller, W. (2023). Semi-autonomous operation of a mobile concrete pump. Automation in Construction, 156, Article 105079. https://doi.org/10.1016/j.autcon.2023.105079
E376-02 - Forschungsbereich Komplexe Dynamische Systeme E056-10 - Fachbereich SecInt-Secure and Intelligent Human-Centric Digital Technologies
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Journal:
Automation in Construction
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ISSN:
0926-5805
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Date (published):
Dec-2023
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Publisher:
ELSEVIER
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Peer reviewed:
Yes
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Keywords:
Elastic multi-body system; Experimental validation; Large-scale manipulator; Mobile concrete pump; Optimal support; Time-optimal trajectory planning; Trajectory following control
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Abstract:
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.
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Research Areas:
Mathematical and Algorithmic Foundations: 80% Modeling and Simulation: 20%
