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

Patrick C. Leger; Patrick Rowe; John Bares; Scott Boehmke; Anthony Stentz

doi:10.1117/12.335693

8 January 1999 Obstacle detection and safeguarding for a high-speed autonomous hydraulic excavator

Patrick C. Leger, Patrick Rowe, John Bares, Scott Boehmke, Anthony Stentz

Proceedings Volume 3525, Mobile Robots XIII and Intelligent Transportation Systems; (1999) https://doi.org/10.1117/12.335693
Event: Photonics East (ISAM, VVDC, IEMB), 1998, Boston, MA, United States

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.

Citation Download Citation

Patrick C. Leger, Patrick Rowe, John Bares, Scott Boehmke, and Anthony Stentz "Obstacle detection and safeguarding for a high-speed autonomous hydraulic excavator", Proc. SPIE 3525, Mobile Robots XIII and Intelligent Transportation Systems, (8 January 1999); https://doi.org/10.1117/12.335693

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