Off-world robotic excavation for Large-scale habitat construction and resource extraction
Dunbabin, Matthew, Corke, Peter, Winstanley, Graeme , & Roberts, Jonathan (2006) Off-world robotic excavation for Large-scale habitat construction and resource extraction. In Fong, Terry (Ed.) AAAI Papers from the 2006 Spring Symposium : To Boldly Go Where No Human-Robot Team Has Gone Before, American Association for Artificial Intelligence, Stanford University, Stanford, California, pp. 95-103.
This paper describes technologies we have developed to perform autonomous large-scale off-world excavation. A scale dragline excavator of size similar to that required for lunar excavation was made capable of autonomous control. Systems have been put in place to allow remote operation of the machine from anywhere in the world. Algorithms have been developed for complete autonomous digging and dumping of material taking into account machine and terrain constraints and regolith variability. Experimental results are presented showing the ability to autonomously excavate and move large amounts of regolith and accurately place it at a specified location.
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|Item Type:||Conference Paper|
|Keywords:||robotics, excavation, resource extraction, habitat construction|
|Subjects:||Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > ELECTRICAL AND ELECTRONIC ENGINEERING (090600)|
Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > ELECTRICAL AND ELECTRONIC ENGINEERING (090600) > Control Systems Robotics and Automation (090602)
|Divisions:||Past > QUT Faculties & Divisions > Faculty of Built Environment and Engineering|
Past > Schools > School of Engineering Systems
|Copyright Owner:||Copyright 2006 [please consult author]|
|Deposited On:||01 Sep 2010 12:29|
|Last Modified:||11 Aug 2011 04:22|
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