Autonomous Rock Excavation, Intelligent Control Techniques and Experimentation Contributor(s): Lever, Paul (Author), Wang, Fei-Yue (Author), Shi, Xiaobo (Author) |
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ISBN: 981023497X ISBN-13: 9789810234973 Publisher: World Scientific Publishing Company OUR PRICE: $89.30 Product Type: Hardcover Published: July 1998 Annotation: 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 various difficult-to-excavate environments. |
Additional Information |
BISAC Categories: - Technology & Engineering | Electrical - Technology & Engineering | Construction - General |
Dewey: 624.152 |
LCCN: 98007862 |
Series: Intelligent Control and Intelligent Automation |
Physical Information: 57.21" H x 6.38" W x 9.02" (0.84 lbs) 176 pages |
Descriptions, Reviews, Etc. |
Publisher Description: 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. |