Autonomous Rock Excavation: Intelligent Control Techniques and Experimentation

Autonomous Rock Excavation: Intelligent Control Techniques and Experimentation

by Xiaobo Shi
     
 

ISBN-10: 981023497X

ISBN-13: 9789810234973

Pub. Date: 07/28/1998

Publisher: World Scientific Publishing Company, Incorporated

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…  See more details below

Overview

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.

Product Details

ISBN-13:
9789810234973
Publisher:
World Scientific Publishing Company, Incorporated
Publication date:
07/28/1998
Series:
Series in Intelligent Control and Intelligent Automation
Pages:
176
Product dimensions:
6.38(w) x 9.02(h) x 57.21(d)

Table of Contents

Preface
1Introduction1
2Background Review13
3Control Architecture Developed for Autonomous Rock Excavation29
4Excavation Monitoring and Situation Assessment37
5Excavation Task Planning43
6Fuzzy Behaviors & Action Specification79
7Experiments97
8Conclusions133
App. ABasics of Binocular Stereo Computer Vision for Autonomous Rock Excavation137
App. BKinematic Model of the PUMA560 Robotic Arm in the Excavation System151
Bibliography157
Index165

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