Design and Control of Autonomous Flying Excavator-Reference-Cited by-同舟云学术

Design and Control of Autonomous Flying Excavator

Published:2023-12-29 Issue:1 Volume:12 Page:23
ISSN:2075-1702
Container-title:Machines
language:en
Short-container-title:Machines

Author:

Zaman Arif¹,Seo Jaho¹^ORCID

Affiliation:

1. Department of Automotive and Mechatronics Engineering, Ontario Tech University, Oshawa, ON L1G 0C5, Canada

Abstract

This study presents a drone-based excavation platform prototype with the key objectives of balancing stability during excavation, sensing, and digging the soil pile autonomously without human intervention. The whole platform was first designed in CAD software, and then each part of the excavator assembly was 3D printed by using PLA filament. The physical system was then combined with numerous electronic components and linked to various software applications for a drone to perform autonomous excavations. Pixhawk Orange Cube served as the main controller for the drone, while Nvidia Jetson Nano was used for processing data and controlling the tip of the bucket at a specified location for the autonomous excavator. Two scenarios were considered to validate the functionality of the developed platform. In the first scenario, the drone flies independently to a construction site, lands, senses the soil, excavates it, and then travels to another location specified by the mission to deposit the soil.

Funder

Natural Sciences and Engineering Research Council

Publisher

MDPI AG

Subject

Electrical and Electronic Engineering,Industrial and Manufacturing Engineering,Control and Optimization,Mechanical Engineering,Computer Science (miscellaneous),Control and Systems Engineering

Link

https://www.mdpi.com/2075-1702/12/1/23/pdf

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