Field Implementation of an Automated Hydraulic Excavator Using ROS2-TMS for Construction and OPERA
Tomoya Kouno, Yuichiro Kasahara, Kota Akinari, Akinosuke Tsutsumi, Takayoshi Hachijo, Shunsuke Kimura, YUTARO FUKASE, Yuki Miyashita, Takashi Yokoshima, Taro Abe, Daisuke Endo, Takeshi Hashimoto, Keiji Nagatani, Genki Yamauchi, Ryo Kurazume
Abstract
We are developing a Cyber-Physical System (CPS) for earthwork sites, called ROS2-TMS for Construction, uti- lizing OPERA, an autonomous construction platform under development by the Public Works Research Institute. In this paper, as a case study of the system’s field implementation, we automated the loading of cohesive soil into a hopper during soil improvement work using a hydraulic excavator. Experimental results demonstrated that the system was able to dynamically determine excavation positions and achieve continuous operation for more than one hour. Furthermore, we conducted an additional slope-collapsing experiment using a hydraulic excavator, which demonstrated the applicability of the proposed system to diverse earthwork tasks.