Vehicles, Volume 6, Issue 2 (June 2024) – 22 articles
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This study aims to design and build an excavator with parallel electrical linear actuators and to generate and test PSO-based and PFM-based paths for energy savings, improved digging accuracy, and collision prevention. Computer vision was used for better monitoring and verification. Five experiments were conducted to examine energy conservation in PSO- and PFM-based path generation. The results were compared to highlight the impact of optimal path generation. Comparing the results, PFM-based trajectory generation with integrated contour and PID controllers minimizes error between the designed and excavated profiles. PFM paths also consume less energy than PSO paths. However, integrating contour and PID controllers increases energy use compared to PID alone due to enhanced precision and combined control efforts. View this paper
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