Graphics enhanced version of this site

Obstacle detection and safeguarding for a high-speed autonomous hydraulic excavator
P. Leger, P. Rowe, J. Bares, S. Boehmke, and A. Stentz
Proceedings of SPIE Mobile Robots XIII, Vol. 3525, November, 1998, pp. 146-156.

Jump to: Download | Abstract | Text Reference | BibTeX Reference

Adobe portable document format (pdf) [153 KB]
Compressed postscript (ps.gz) [258 KB]

Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

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.

P. Leger, P. Rowe, J. Bares, S. Boehmke, and A. Stentz, "Obstacle detection and safeguarding for a high-speed autonomous hydraulic excavator," Proceedings of SPIE Mobile Robots XIII, Vol. 3525, November, 1998, pp. 146-156.

@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",
   month = "November",
   year = "1998",
   volume = "3525",
   pages = "146-156"
}