Obstacle Detection and Safeguarding for a HIgh-Speed Autonomous Hydraulic Excavator
journal contributionposted on 01.01.1998, 00:00 by Chris Leger, Patrick Rowe, John Bares, Scott Boehmke, Anthony Stentz
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.