Development of the autonomous hydraulic excavator prototype using 3-D information for motion planning and control

Hiroshi Yamamoto, Masaharu Moteki, Hui Shao, Kenzi Ootuki, Yuji Yanagisawa, Yuki Sakaida, Akira Nozue, Takashi Yamaguchi, Shin'ichi Yuta

研究成果: Conference contribution

18 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2010 IEEE/SICE International Symposium on System Integration
ホスト出版物のサブタイトルSI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings
ページ49-54
ページ数6
DOI
出版ステータスPublished - 2010
イベント3rd International Symposium on System Integration, SII 2010 - Sendai, Japan
継続期間: 2010 12 212010 12 22

出版物シリーズ

名前2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings

Other

Other3rd International Symposium on System Integration, SII 2010
国/地域Japan
CitySendai
Period10/12/2110/12/22

ASJC Scopus subject areas

  • 制御およびシステム工学

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