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Proceedings Paper

Obstacle detection and safeguarding for a high-speed autonomous hydraulic excavator
Author(s): Patrick C. Leger; Patrick Rowe; John Bares; Scott Boehmke; Anthony Stentz
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Paper 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.

Paper Details

Date Published: 8 January 1999
PDF: 11 pages
Proc. SPIE 3525, Mobile Robots XIII and Intelligent Transportation Systems, (8 January 1999); doi: 10.1117/12.335693
Show Author Affiliations
Patrick C. Leger, Carnegie Mellon Univ. (United States)
Patrick Rowe, Carnegie Mellon Univ. (United States)
John Bares, Carnegie Mellon Univ. (United States)
Scott Boehmke, Carnegie Mellon Univ. (United States)
Anthony Stentz, Carnegie Mellon Univ. (United States)


Published in SPIE Proceedings Vol. 3525:
Mobile Robots XIII and Intelligent Transportation Systems
Howie M. Choset; Pushkin Kachroo; Mikhail A. Kourjanski; Douglas W. Gage; Pushkin Kachroo; Marten J. de Vries; Mikhail A. Kourjanski; Marten J. de Vries, Editor(s)

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