Surface Excavation with Model Predictive Control
Shekhar R. C. and Maciejowski J. M.
49th IEEE Conference on Decision and Control (CDC 2010), Pages 5239-5244, 2010Abstract
This paper describes the application of variable-horizon model predictive control to trajectory generation in surface excavation. A nonlinear dynamic model of a surface mining machine digging in oil sand is developed as a test platform. This model is then stabilised with an inner-loop controller before being linearised to generate a prediction model. The linear model is used to design a predictive controller for trajectory generation. A variable horizon formulation is augmented with extra terms in the cost function to allow more control over digging, whilst still preserving the guarantee of finite-time completion. Simulations show the generation of realistic trajectories, motivating new applications of variable horizon MPC for autonomy that go beyond the realm of vehicle path planning.
BibTex Entry
- @InProceedings{,
- author = {Shekhar R. C. and Maciejowski J. M.},
- title = {Surface Excavation with Model Predictive Control},
- booktitle = {49th IEEE Conference on Decision and Control (CDC 2010)},
- pages = {5239-5244},
- year = {2010}
- }
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