Abstract
The research at hand is part of the autonomous excavator project Thor. The long term-goal is the development of an excavator which is capable of performing landscaping tasks without human intervention. As this machine creates huge forces, safety plays an important role. This research extends the behavior-based trajectory generation for the excavation and truck loading operation, working for the undisturbed case only, with collision avoidance concerning obstacles and the machine itself. Based on a data efficient cylinder-coordinate octree for storing obstacles, joint movements are inhibited or actively influenced to prevent the machine from hitting objects and itself. Additionally, this research shows the suitability of the extensible reactive behavior-based control approach for the automation of construction machines.
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The work at hand was funded from the Federal Ministry of Education and Research (BMBF) under grant agreement number 01|S13027D.
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Schmidt, D., Göckel, F., Berns, K. (2017). Behavior-Based Collision Avoidance Using a Cylinder-Coordinate Octree. In: Chen, W., Hosoda, K., Menegatti, E., Shimizu, M., Wang, H. (eds) Intelligent Autonomous Systems 14. IAS 2016. Advances in Intelligent Systems and Computing, vol 531. Springer, Cham. https://doi.org/10.1007/978-3-319-48036-7_11
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DOI: https://doi.org/10.1007/978-3-319-48036-7_11
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