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Autonomous Navigation of Heavy Construction Equipment
Author(s) -
III Carl D. Crane,
II David G. Armstrong,
Rankin Arturo L.
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.tb00297.x
Subject(s) - excavator , global positioning system , inertial navigation system , unexploded ordnance , inertial measurement unit , computer science , navigation system , motion planning , position (finance) , path (computing) , ammunition , real time computing , engineering , orientation (vector space) , simulation , control engineering , robot , artificial intelligence , telecommunications , geography , mechanical engineering , geometry , mathematics , remote sensing , archaeology , finance , economics , programming language
A John Deere model 690 excavator, mounted on a Standard Manufacturing Company wheeled undercarriage, has been automated for the purpose of autonomously uncovering and removing unexploded buried ordnance. This paper describes the development effort, with emphasis placed on the autonomous navigation of the excavator system. Accurate navigation is required in order to properly position the excavator system so that it can uncover and remove the target buried munition. Autonomous navigation is accomplished by use of an A * search algorithm for path planning, an inertial navigation system (INS) integrated with a global positioning system (GPS) for vehicle positioning, and proportional control for path‐following. Data gathered from eight navigation test runs show that the excavator, on average, can navigate to within 0.67 m of a goal position and to within 0.021 rad of a goal orientation.