Premium
Motion Planning for an Autonomous Compactor in a Waste Landfill Site
Author(s) -
Kunigahalli Raghavan,
Russell Jeffrey S.,
Tserng HuiPing
Publication year - 1995
Publication title -
computer‐aided civil and infrastructure engineering
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 2.773
H-Index - 82
eISSN - 1467-8667
pISSN - 1093-9687
DOI - 10.1111/j.1467-8667.1995.tb00296.x
Subject(s) - quadtree , decomposition , tree traversal , motion planning , path (computing) , computer science , interface (matter) , range (aeronautics) , variable (mathematics) , municipal solid waste , simulation , engineering , algorithm , artificial intelligence , mathematics , robot , waste management , chemistry , parallel computing , organic chemistry , bubble , maximum bubble pressure method , programming language , aerospace engineering , mathematical analysis
Abstract: This paper describes the algorithms and detailed path‐planning methodologies developed to enable autonomous spreading and compaction processes in a waste landfilling operation. A given landfill site is spatially decomposed into cells using a recursive spatial decomposition technique. The cell size is determined using a probabilistic model for waste generation. Variation in the amount of waste generated on a given day is handled by a further spatial decomposition of a cell into monominoes. The recursive spatial decomposition processes of a landfill site into cells and each cell into monominoes are accomplished by employing a variant of quadtree data structure. A three‐dimensional path plan for an autonomous compactor that considers a variable working gradient in the range of 3:1 to 2:1 is generated for a pair of monominoes. Automatic location of the working place for a compactor is accomplished by a recursive traversal of the quadtree structure. The algorithms have been implemented using a computer‐graphic functional interface standard with C‐program binding.