Path optimization for a wheel loader considering construction site terrain
Beichuan Hong, Xiaoliang Ma · 2018
Wheel loader is one of the most widely used heavy-duty vehicles for transporting building materials in construction site. Improvement of its efficiency is important for sustainable transport and construction operations. This paper proposes a path optimization approach that allows us to plan loader trajectory and corresponding vehicle motions in construction site when the topological relief information is available. Vehicle dynamics is modeled for 3D motions considering the power balance of vehicle propulsion. The path planning problem is then formulated using a framework of constrained optimal control where vehicle dynamics is incorporated as system constraints. In order to solve the problem, a discrete search method is developed based on the principle of dynamic programming (DP), in which the states of the forward and backward movement paths of wheel loader are explored in parallel. A numerical study is then presented to demonstrate the application of the proposed approach for optimizing the loader path using terrain information.