Feature Extraction for Digging Operation of Excavator Based on Data-Driven Skill-Based PID Controller

Improvement of the work efficiency is demanded by aging and reducing of the working population in the construction field, so that some automation technologies are applied to construction equipment, such as bulldozers and excavators. However, not only the automation technologies but also expert skills are necessary to improve the work efficiency. In this paper, the human skill evaluation is proposed by the data-driven skill-based PID controller. The proposed method is applied to the excavator digging operation. As the result, the difference between the novice operation and the skilled operation is extracted. Moreover, the numerical difference is clarified based on the result.