<div class="csl-bib-body">
<div class="csl-entry">Meiringer, M., Kugi, A., & Kemmetmüller, W. (2023). Semi-autonomous operation of a mobile concrete pump. <i>Automation in Construction</i>, <i>156</i>, Article 105079. https://doi.org/10.1016/j.autcon.2023.105079</div>
</div>
-
dc.identifier.issn
0926-5805
-
dc.identifier.uri
http://hdl.handle.net/20.500.12708/189785
-
dc.description.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.
en
dc.language.iso
en
-
dc.publisher
ELSEVIER
-
dc.relation.ispartof
Automation in Construction
-
dc.subject
Elastic multi-body system
en
dc.subject
Experimental validation
en
dc.subject
Large-scale manipulator
en
dc.subject
Mobile concrete pump
en
dc.subject
Optimal support
en
dc.subject
Time-optimal trajectory planning
en
dc.subject
Trajectory following control
en
dc.title
Semi-autonomous operation of a mobile concrete pump
