Aiming at the problem that the bucket of an excavator cannot do adaptive adjustment during the digging process in the multiobstacle environment, we propose to adopt the cubic polynomial and integral method to plan digging trajectory, use the blind groping algorithm to adjust the bucket effectively when colliding with obstacles during the digging process, and apply the preimage planning algorithm to determine the obstacle avoidance direction. In order to validate the obstacle avoidance algorithm, we utilize the Matlab graphical user interface (GUI) to design a visual interface which can realize functions such as setting parameters, displaying results, and etc. Simulation experiments show that the obstacle avoidance algorithm can complete the task of continuous obstacle avoidance by steering away obstacles smoothly several times in a complex environment.

 

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