Hydraulic excavator testing model and fixed-point path planning

Making excavator become automatic has a lot of benefits. It can reduce personnel costs, reduce recruitment pressure, and increase production capacity on a large scale. What’s more, it can save lives when the excavator is required to work in a dangerous environment. Through the aftermarket modification of the excavator, we can realize the automatic excavation and loading of open pit mines.

In this project, a testing model for hydraulic excavator is built and the path planning for automatic excavation and loading is realized by using ROS. A PID controller is used in trajectory tracking