Real-time task-oriented continuous digging trajectory planning for excavator arms

Current digging trajectory planning methods for excavator arms are limited to a single digging cycle, which does not meet the continuous excavation demands of the task. To address this issue, a real-time task-oriented continuous digging trajectory planning method for autonomous excavators is presented. The method involves optimizing digging trajectory for a single excavation cycle using multi-objective PSO method, building a PINN model using optimization results as training samples for real-time planning, and embedding the PINN model in planning framework for typical tasks. The method was validated using four different cross-section shapes of the trench. Results show that the average time taken to plan a single digging trajectory is less than 4.5ms, which is negligible compared to the time taken by PSO. The overall performance of the trajectory is only about 5% different from those planned by PSO. This method offers a more efficient and effective solution for continuous excavation tasks.