Semi-autonomous operation of a mobile concrete pump

The developments of mobile-concrete pumps steadily increase the complexity of their operation. At the same time, increasing computational power and sensor performance give rise to new smart assistance systems for the operator. This paper presents an optimization-based trajectory planning and motion control concept for a mobile concrete pump that can ensure secure support and obstacle avoidance during setup. The proposed concept allows to determine the truck's optimal support configuration and is able to plan the boom's unfolding and folding motion to desired target configurations. The effectiveness of the proposed concept is demonstrated by extensive simulation studies and experimental results on a real-world mobile concrete pump. •Control of the support process of a mobile concrete pump without relying on detailed knowledge of the ground stiffness.•Optimal motion planning for an elastic boom, utilizing an underlying vibration-damping controller.•Stabilization of the boom motion, incorporating model mismatch to the real world, as well as operator input.•Simulation studies of various scenarios with nominal and relaxed technical limitations of the machine.•Experimental validation of the boom motion control strategies.