Home Browse by Subject Bestsellers New Titles Editor's Choice New Reviews Textbooks
Search Book Series Study Guides Rights Inspection Copy Contact Us Join Our Mailing List
For Authors How to Order E-Catalogues

Browse all Subjects
Search Bookshop
New Titles
Editor's Choice
Bestsellers
Book Series
Textbooks
Journals
Join Our Mailing List
 
Series in Intelligent Control and Intelligent Automation - Vol. 10

AUTONOMOUS ROCK EXCAVATION
Intelligent Control Techniques and Experimentation

by Xiaobo Shi, Paul J A Lever & Fei-Yue Wang (University of Arizona)

Earth-moving is a common activity at mines, construction sites, hazardous waste cleanup locations, and road works. Expensive and sophisticated machines such as wheel loaders are used for earth-moving. This book presents a robotic control approach to the computer control of wheel-loader-type excavators. The unpredictable and dynamic rock excavation environment poses challenges for the design of the real time control algorithm. The control method developed here is based on the analysis of human operators' performance; it applies neural networks, fuzzy logic and finite state machines to embody human excavation strategies for on-line bucket digging trajectory design. A behavior-based control architecture organizes operation of the modules to achieve quick system response. Extensive experiments have been performed to demonstrate the diggability of the algorithm in various difficult-to-excavate environments.


Contents:

  • Background Review
  • Control Architecture Developed for Autonomous Rock Excavation
  • Excavation Monitoring and Situation Assessment
  • Excavation Task Planning
  • Fuzzy Behaviors and Action Specification
  • Experiments
  • Appendices:
  • Basics of Binocular Stereo Computer Vision for Autonomous Rock Excavation
  • Kinematic Model of the PUMA560 Robotic Arm in the Excavation System


Readership: Engineers, researchers, students and lecturers in electrical & electronic engineering.

176pp Pub. date: Jul 1998
ISBN 978-981-02-3497-3
981-02-3497-X
US$62 / £39
US$25 / £16

* Special price applies only to individuals purchasing online and cannot be used in conjunction with any other offers.
Request for inspection copy



Copyright © 2008 World Scientific Publishing Co. All rights reserved.
Updated on 25 July 2008