Some Possible Trajectory Planning Methodologies for an Articulated Deep Soil Mixing Equipment with Limited Degrees-of-Freedom

An innovative concept of mixing soil around obstacles via a newly developed equipment with articulated joints is currently being developed by a research group in NUS. To assist and supervise the movement of articulated joints in the real site, a supervisory software for trajectory mapping for the hardware of articulated joints is required. This study compares four approaches of controlling and optimizing for the subterranean trajectory of a three-jointed articulated deep mixing equipment, based on a proposed mathematical model, which is used to trace coordinates of joints in each step. Through the understanding of the equipment’s behaviour, the programs of deep soil mixing trajectory calculation using different methodologies, are developed and improved to achieve more functions and better performance. Comparison and analysis of all the feasible methodologies are included to obtain the optimal program for real world applications.