Autonomous Rock Excavation: Intelligent Control Techniques and Experimentation (Series in Intelligent Control & Intelligent Automation): 10 - Hardcover

Shi, Xiaobo; Lever, Paul J A; Wang, Fei-Yue

Hardcover

ISBN 10: 981023497X ISBN 13: 9789810234973

Publisher: World Scientific Publishing Co Pte Ltd, 1998

Synopsis

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.

Edition details

• Publisher: World Scientific Publishing Co Pte Ltd
• Publication date: 1998
• Language: English
• ISBN 10: 981023497X
• ISBN 13: 9789810234973
• Binding: Hardcover
• Number of pages: 176