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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 |
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