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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2025
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2509.10642 |
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Table of Contents:
- Earthmoving operations with wheel loaders require substantial power and incur high operational costs. This work presents an efficient automation framework based on the Fundamental Earthmoving Equation (FEE) for soil-tool interaction modeling. A reduced-order multi-step parameter estimation method guided by Sobol's global sensitivity analysis is deployed for accurate, online excavation force prediction. An optimal control problem is then formulated to compute energy-efficient bucket trajectories using soil parameters identified in the previous digging cycle. High-fidelity simulations in Algoryx Dynamics confirm accurate force prediction and demonstrate 15-40% energy savings compared to standard paths. The total computation time is comparable to a single digging cycle, highlighting the framework's potential for real-time, energy-optimized wheel loader automation.