Paper Info
Title
Construction site navigation for the autonomous excavator Thor
Abstract
The paper at hand is part of the autonomous excavator project Thor (Terraforming Heavy Outdoor Robot) who's goal is the development of a construction machine which performs landscaping on a construction site without an operator. So far the project mainly focused on the local excavation on one position. Due to the high digging forces the machine permanently changes its position during excavation. Furthermore, the global goal is to shape the complete construction site. Therefore, a final test platform needs to permanently reposition itself on the site. Within this paper the construction site navigation function is described which guarantees safe traveling from one pose to another one. It is based on an extended A* path planning algorithm, executed on a 2D gridmap including region growing for obstacles, including forward and backward movement. In combination with an intelligent path following algorithm the machine proved to safely reach its position with the desired orientation.
Year
DOI
Venue
2015
10.1109/ICARA.2015.7081130
Automation, Robotics and Applications
Keywords
Field
DocType
construction equipment,excavators,industrial robots,navigation,path planning,2d gridmap,a* path planning algorithm,thor,autonomous excavator project,backward movement,construction machine,construction site navigation function,forward movement,intelligent path following algorithm,local excavation,terraforming heavy outdoor robot,trajectory,mathematical model,robot kinematics,automation
Motion planning,Computer vision,Navigation function,Excavation,Computer science,Robot kinematics,Excavator,Artificial intelligence,Robot,Trajectory,Robotics
Conference
Citations 
PageRank 
References 
0
0.34
8
Authors
2
Name
Order
Citations
PageRank
Daniel Schmidt1144.94
Karsten Berns2705119.86