An incremental approach to the advanced teleoperation of an earthwork equipment

Author

Ressa, B. ; Mori, A.

Author_Institution

Robotics & Autom. Dept., Tecnopolis CSATA, Valenzano, Italy

fYear

1994

fDate

24-26 Oct. 1994

Firstpage

556

Lastpage

561

Abstract

This paper describes the results of the activities carried out in the system requirements and specification definition phases of the ESPRIT funded project EP 6068 ATHENA (Advanced Teleoperation for earthwork Equipment Navigation). The aim of the ATHENA project is the automation of the operations performed currently by human drivers of earthwork equipment working within waste disposal site. The objective is to operate the vehicle without having a driver on-board by providing the vehicle itself with basic autonomous capabilities, and the control station with advanced teleoperation features. This goal is achieved through the incremental automation of a compactor selected within the class of earthwork equipment. The advanced control and guidance system includes teleoperation as well as reflex-based risks avoidance, semi-autonomous navigation, task planning and correlated sensor data processing.

Keywords

intelligent control; navigation; path planning; telecontrol; vehicles; waste disposal; ESPRIT project EP 6068 ATHENA; autonomous vehicle; correlated sensor data processing; earthwork equipment navigation; guidance system; incremental approach; incremental automation; reflex-based risks avoidance; task planning; teleoperation; waste disposal; Automatic control; Automation; Control systems; Humans; Mobile robots; Navigation; Process planning; Remotely operated vehicles; Vehicle driving; Waste disposal;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Vehicles '94 Symposium, Proceedings of the

Print_ISBN

0-7803-2135-9

Type

conf

DOI

10.1109/IVS.1994.639578

Filename

639578