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Creation of One Excavator as an Obstacle in C-Space for Collision Avoidance During Two Excavator Cooperation_Code_File

Title
Creation of One Excavator as an Obstacle in C-Space for Collision Avoidance During Two Excavator Cooperation_Code_File
Author
Sun, Dongik
Keywords
Excavator; Obstacle in C-Space; for Collision Avoidance; Two Excavator Cooperation
Issue Date
2019-09-13
Abstract
The typical excavator is a useful machine that is good at construction, rescue and recovery jobs, etc. Since it uses a hydraulic actuator, variable attachments, and has a high degree of freedom, its applications are unlimited. Additionally, the excavator is often employed in vast areas, where the cooperation of multi-excavators is very common. However, these factors can create some dangerous situations. A collision is a representative example. Therefore, an operator should maintain visual awareness to avoid collisions while driving and manipulating an excavator. There have been other ways attempted to reduce accidents in these dangerous situations. For example, solutions using RFID (radio-frequency identification) devices or distance measurement sensors have been studied and developed for immediate warnings. However, some local problems have been found in existing solutions. Therefore, a new method is proposed in this paper, which is able to make up for these weaknesses and involves guidance systems. The proposed method is about how one excavator can be generated or expressed as an obstacle kinematically in the C-space with respect to another excavator’s side, with only kinematic information being used. The obstacles are generated in the three defined types of C-space as images so that they could be used as an index for an operator in avoiding a collision. Furthermore, many solutions about the teleoperation of unmanned robotic excavators have been studied for some time. Trivially, it will be better if the proposed method is applied to a teleoperation system.
URI
http://repository.hanyang.ac.kr/handle/20.500.11754/110426
Appears in Collections:
GRADUATE SCHOOL[S](대학원) > MECHATRONICS ENGINEERING(메카트로닉스공학과) > Theses (Ph.D.)
Files in This Item:
Matlab_GUI_Code.txtDownload
collision_avoidance_simulator.mDownload
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