Motion Planning and Fuzzy Reactive Control for Excavating-Robot

Excavating- robot differs from industrial robot due to unstructured working environment, the changeable soil mechanics and heavy loading . Thus, the motion planning for excavating-robot is different from traditional planning methods. In this paper, the motion planning strategy and the fuzzy reactive control method for excavating-robot are proposed. By preliminary planning and detailed planning, a satisfactory digging trajectory is found, which meets with the geometric, force and dynamic requirements with the objects spending the lowest possible energy per excavated volume and making the available power utilized as full as possible. To adapt external environment, a fuzzy reactive controller is introduced into the control system of the excavating-robot. When encountering the obstacle, the robot can make corresponding revision for the planed trajectory autonomously. The experiment results show that the methods proposed are feasible.