TY - GEN
T1 - Development of the autonomous hydraulic excavator prototype using 3-D information for motion planning and control
AU - Yamamoto, Hiroshi
AU - Moteki, Masaharu
AU - Shao, Hui
AU - Ootuki, Kenzi
AU - Yanagisawa, Yuji
AU - Sakaida, Yuki
AU - Nozue, Akira
AU - Yamaguchi, Takashi
AU - Yuta, Shin'ichi
PY - 2010
Y1 - 2010
N2 - Civil engineering work still involves many dangerous and grueling tasks, so improving work environments and ensuring safety are challenges facing this field. The development of construction machines are also essential to prepare for the aging problem of construction workers and shortage of young experienced workers in near future. This research project was conducted to overcome these problems by development of the basic technologies with three-dimensional information, and realize the autonomous operation of hydraulic excavators, which is, a typical general purpose construction machine. We have implemented a prototype of the autonomous hydraulic excavator, which performs the soil excavation and loading work under basic conditions. The achieved work speed and finished product precision were almost same as those of normal work by humans.
AB - Civil engineering work still involves many dangerous and grueling tasks, so improving work environments and ensuring safety are challenges facing this field. The development of construction machines are also essential to prepare for the aging problem of construction workers and shortage of young experienced workers in near future. This research project was conducted to overcome these problems by development of the basic technologies with three-dimensional information, and realize the autonomous operation of hydraulic excavators, which is, a typical general purpose construction machine. We have implemented a prototype of the autonomous hydraulic excavator, which performs the soil excavation and loading work under basic conditions. The achieved work speed and finished product precision were almost same as those of normal work by humans.
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U2 - 10.1109/SII.2010.5708300
DO - 10.1109/SII.2010.5708300
M3 - Conference contribution
AN - SCOPUS:79952797590
SN - 9781424493159
T3 - 2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings
SP - 49
EP - 54
BT - 2010 IEEE/SICE International Symposium on System Integration
T2 - 3rd International Symposium on System Integration, SII 2010
Y2 - 21 December 2010 through 22 December 2010
ER -