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Control System for an AI-Driven Scaled Model Excavator: Linking Artificial Intelligence decisions to bucket-tip movements / Baptiste SNIJCKERS 

Public ISBD Titre : Control System for an AI-Driven Scaled Model Excavator: Linking Artificial Intelligence decisions to bucket-tip movements Type de document : Travail de fin d'études Auteurs : Baptiste SNIJCKERS, Auteur ; Liuha ARTO, ; Antoine Aifa, Editeur : ECAM Année de publication : 2024 Langues : Français (fre) Mots-clés : Robotique Index. décimale : TFE - Automatique Résumé : The end-of-study work took place in the research and development department of the Finnish university of Savonia UAS as part of a new project called AI-MaSi. The work was part of this 3-year project, which was set up following the allocation of funds by the European Union to develop new technologies in sparsely populated regions. Its aim is to create an Artificial Intelligence capable of driving an excavator and carrying out basic tasks such as moving a pile of earth or moving logs. It has been decided that the AI will be responsible for planning the path to be taken by the excavator's arm, which means that it will not be concerned with the mechanical and hydraulic relationships within the machine. The creation of a control system capable of acting as a link between the AI and the excavator is therefore necessary in order to achieve the control chain. Since this work is part of the early stages of the project, the model of the excavator used is still only a scale model that presents its own challenges. An analysis of the model and its improvement in order to meet the expectations of the project was therefore necessary and was carried out in the first part of the work. A simulated model of the system was then created in order to develop, test and improve a control system enabling the trajectory calculated by the AI to be followed successfully via advanced control. And real-life tests were carried out to validate the results obtained. Control System for an AI-Driven Scaled Model Excavator: Linking Artificial Intelligence decisions to bucket-tip movements [Travail de fin d'études] / Baptiste SNIJCKERS, Auteur ; Liuha ARTO, ; Antoine Aifa,  . - ECAM, 2024. Langues : Français (fre) Mots-clés : Robotique Index. décimale : TFE - Automatique Résumé : The end-of-study work took place in the research and development department of the Finnish university of Savonia UAS as part of a new project called AI-MaSi. The work was part of this 3-year project, which was set up following the allocation of funds by the European Union to develop new technologies in sparsely populated regions. Its aim is to create an Artificial Intelligence capable of driving an excavator and carrying out basic tasks such as moving a pile of earth or moving logs. It has been decided that the AI will be responsible for planning the path to be taken by the excavator's arm, which means that it will not be concerned with the mechanical and hydraulic relationships within the machine. The creation of a control system capable of acting as a link between the AI and the excavator is therefore necessary in order to achieve the control chain. Since this work is part of the early stages of the project, the model of the excavator used is still only a scale model that presents its own challenges. An analysis of the model and its improvement in order to meet the expectations of the project was therefore necessary and was carried out in the first part of the work. A simulated model of the system was then created in order to develop, test and improve a control system enabling the trajectory calculated by the AI to be followed successfully via advanced control. And real-life tests were carried out to validate the results obtained.

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