Cooperative Motion Planning based on Data-Driven Approach for Hydraulic Excavators*

The increasing adoption of technologies, such as building information modeling underscores the significance of leveraging data and digital technologies on construction sites. Research and development of data-driven automated excavators are underway. Cooperative construction using multiple automated excavators is required to improve productivity. For realizing the construction method, utilizing operation and construction data collected in the construction sites is effective. This study presents cooperative motion planning based on a data-driven numerical optimization method. By leveraging a database of historical construction data, the search range for optimization calculations is limited, enabling the efficient calculation of motion plans for automated excavators that avoid collision with nearby machinery. The effectiveness of the proposed method was validated through simulations and experiments conducted with radio-controlled (RC) excavators.