Optimal positioning of excavators in digging processes

The paper proposes an approach for obtaining optimal positioning of excavators in digging processes. First, constraints and assumptions regarding excavator and dig geometries are stated. The excavator work space is correlated to its kinematics and the geometric locus of optimal points – points that correspond to maximal length of boom-arm pair is located. Then the problem of determining the volume of removed soil is analysed and subsequently reduced to the solution of the corresponding 2D problem. Simple mathematical formulas are provided that relate dig and excavator geometries. Finally, simple analytical heuristic functions are used as criteria for locating that optimal point that offers the shortest path to the point of initial location of the excavator.