• Corpus ID: 16899579

Experiments Suggest the Possibility of Achieving Autonomous Robotic Excavation in Moving Towards Construction Automation

@inproceedings{Santos2001ExperimentsST,
  title={Experiments Suggest the Possibility of Achieving Autonomous Robotic Excavation in Moving Towards Construction Automation},
  author={Miguel Santos and Quang Nguyen and David C. Rye and Hugh F. Durrant-Whyte},
  year={2001}
}
C onstruction is of prime economic significance to many industry sectors. Intense competition, shortages of skilled labor, and technological advances are forcing rapid change in the construction industry, thus motivating construction automation [1]. Earthmoving machines, such as bulldozers, wheel loaders, excavators, scrapers, and graders, are common in construction. Excavationbased operations are used in general earthmoving, digging, and sheet-piling for displacing large amounts of material… 

Figures from this paper

References

SHOWING 1-10 OF 28 REFERENCES
The Development, Control and Operation of an Autonomous Robotic Excavator
TLDR
The paper considers the development of the LUCIE programme since its inception and sets out in terms of the machine kinematics the evolution of the real-time control strategy from an implementation on a one-fifth scale model of a back-hoe arm to a full working system on a JCB801 360° tracked excavator.
Synthesis of tactical plans for robotic excavation
This thesis describes an approach to synthesizing plans for robotic excavators. Excavation tasks range from loading a pile of soil to cutting a geometrically described volume of earth--for a trench
Cognitive Force Control of Excavators
One of the high‐volume and repetitive construction operations on earth is the excavation of soil. Automation of planetary excavation work requires a system that is able to perform the planned digging
Motion and Path Control for Robotic Excavation
In a general sense, control can be described as a cyclic sequence of observing, planning, and executing new actions. Similar to the human body, robotic devices are being equipped with a wide variety
Modeling and Control of Excavator Dynamics during Digging Operation
Automation of excavation operations can be realized by an automatically controlled excavator system that is able to perform autonomously a planned digging work and to quickly comply to interacting
Dynamic Model of Excavator
Automation of excavation work calls for a robotic system able to perform the planned digging work that is responsive to interaction forces experienced during excavation. The development of automated
Intelligent Excavator Control System for Lunar Mining System
TLDR
A fuzzy logic controller (FLC) is used to interpret the forces and torques gathered from a bucket mounted force/torque sensor during excavation, which represents the first step toward an integrated sensing and control system for a lunar mining system.
Kinematics of Excavators (Backhoes) for Transferring Surface Material
To use construction machines effectively in the dark, severe weather, or hazardous and/or unhealthy environments, their operations should be controlled automatically. It can be realized if the
Global Control for Robotic Excavation Using Fuzzy Logic and Statecharts
This paper presents global strategies for the computer control of autonomous backhoe-type excavators. The control structure is divided into low and high levels. The low level control utilises fuzzy
Experimental Studies on Mechanics of Lunar Excavation
One of the first construction operations for building a stationary habitat on the moon or Mars will be excavation of soil. The reasons for this necessity are manyfold and range from the need to
...
1
2
3
...