Method for planning and executing obstacle-free paths for rotating excavation machinery

Dunbabin, Matthew, Usher, K., & Corke, Peter (2012) Method for planning and executing obstacle-free paths for rotating excavation machinery. 2008229615.

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This invention concerns the control of rotating excavation machinery, for instance to avoid collisions with obstacles. In a first aspect the invention is a control system for autonomous path planning in excavation machinery, comprising: A map generation subsystem to receive data from an array of disparate and complementary sensors to generate a 3-Dimensional digital terrain and obstacle map referenced to a coordinate frame related to the machine's geometry, during normal operation of the machine. An obstacle detection subsystem to find and identify obstacles in the digital terrain and obstacle map, and then to refine the map by identifying exclusion zones that are within reach of the machine during operation. A collision detection subsystem that uses knowledge of the machine's position and movements, as well as the digital terrain and obstacle map, to identify and predict possible collisions with itself or other obstacles, and then uses a forward motion planner to predict collisions in a planned path. And, a path planning subsystem that uses information from the other subsystems to vary planned paths to avoid obstacles and collisions. In other aspects the invention is excavation machinery including the control system; a method for control of excavation machinery; and firmware and software versions of the control system.

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ID Code: 81780
Item Type: Patent
Refereed: No
Additional URLs:
Patent ID: 2008229615
Patent Applicants: Matthew Dunbabin, Peter Corke, Graeme Winstanley, Kane Usher
Divisions: Current > Schools > School of Electrical Engineering & Computer Science
Current > Institutes > Institute for Future Environments
Current > QUT Faculties and Divisions > Science & Engineering Faculty
Deposited On: 12 Feb 2015 04:31
Last Modified: 16 Feb 2015 01:32

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