Thesis Type: Postgraduate
Institution Of The Thesis: Middle East Technical University, Graduate School of Natural and Applied Sciences, Turkey
Approval Date: 2019
Thesis Language: English
Student: MÜCAHİT GÜRBÜZ
Supervisor: Onur PekcanAbstract:
Excavation work is one of the main elements needed in construction fields. To meet such a huge demand, a large number of excavators are working all over the globe. In addition, researchers and companies put enormous efforts to develop more efficient excavator models. With the advancement of technology, autonomous systems have become popular and ideal way to upgrade machines for faster, cheaper and safer production. Not surprisingly, there have been many attempts to develop fully autonomous robotic excavation systems and this has become one of the trending topics in the earth-moving industry. There are some key challenges in developing an autonomous excavation system. For example, accurate and fast prediction of resisting soil forces on the excavator bucket plays a crucial role in developing unmanned excavator systems. Current studies provide unrealistic and/or computationally expensive soil-tool interaction models. This study represents a new method to solve the interaction of excavator bucket and soil in real-time with acceptable accuracy. Through the developed accurate real-time soil-tool interaction simulation, it is also aimed to make further progress in virtual reality systems requiring real-time simulations, cabin simulators, and computer games.