Obstacle detection and safeguarding for a high-speed autonomous hydraulic excavator

Patrick (Chris) Leger, Patrick Rowe, John Bares, Scott Boehmke, and Anthony (Tony) Stentz
Proceedings of SPIE Mobile Robots XIII, December, 1998, pp. 146-156.


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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, December, 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 = "December",
   year = "1998",
   volume = "3525",
}