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Carnegie Mellon Robotics Institute

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Abstract

Hydraulic excavators are large, powerful machines which are often operated in high-production settings. Successful automation of excavators for mass excavation tasks require safeguarding algorithms which do not negatively impact productivity. We present a two-level sensor-based safeguarding approach which utilizes obstacle detection to prevent collisions and motion detection to halt operation when unanticipated vehicles or people approach the excavator.

Keywords

obstacle detection, excavation, safeguarding, motion detection

Notes

Associated Center(s) / Consortia: National Robotics Engineering Center

Associated Project(s): Autonomous Loading

Text Reference

Patrick (Chris) Leger, Patrick Rowe, John Bares, Scott Boehmke, and Anthony (Tony) Stentz, "Obstacle detection and safeguarding for a high-speed autonomous hydraulic excavator," Proceedings of SPIE Mobile Robots XIII, November, 1998, pp. 146-156.

BibTeX Reference

@inproceedings{Leger_1998_2653,
   author = "Patrick (Chris) Leger and Patrick Rowe and John Bares and Scott Boehmke and Anthony (Tony) Stentz",
   title = "Obstacle detection and safeguarding for a high-speed autonomous hydraulic excavator",
   booktitle = "Proceedings of SPIE Mobile Robots XIII",
   pages = "146-156",
   month = "November",
   year = "1998",
   volume = "3525",
}

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