Proceedings of 1995 34th IEEE Conference on Decision and Control
DOI: 10.1109/cdc.1995.478607
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Developing real-time autonomous excavation-the LUCIE story

Abstract: Earthworks and earth removal are activities which involve a series of repetitive operations on the part of the machine operator, suggesting opportunities for the automation of these processes with resultant improvements in machine utilisation and throughput. The automation of the earth removal process also provides a number of secondary benefits such as a reduced dependence on operator skills and a lower operator work load.The achievement of automated and robotic excavation in the form of the Lancaster Univers… Show more

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Cited by 20 publications
(8 citation statements)
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“…The operator often has a poor view of the pile, especially when the operator works by remote control or through a teleoperator's console. A notable amount of work has been done on autonomous digging in earth or other fine homogeneous material [8], but these do not address the issue of large rocks. One experiment [9], digging in gravel, used a simple 2.5D occupancy grid where the size of the grid cells has no relation to particles in the rock pile.…”
Section: A Problem Backgroundmentioning
confidence: 99%
“…The operator often has a poor view of the pile, especially when the operator works by remote control or through a teleoperator's console. A notable amount of work has been done on autonomous digging in earth or other fine homogeneous material [8], but these do not address the issue of large rocks. One experiment [9], digging in gravel, used a simple 2.5D occupancy grid where the size of the grid cells has no relation to particles in the rock pile.…”
Section: A Problem Backgroundmentioning
confidence: 99%
“…At the same time, safety issues are in the focus of research. Work on autonomous excavators has been performed over the last decade [4], [5], [6], promoting the usage of excavators in dangerous environments. Typically, the hydraulic excavator is operated through a trained operator that moves the joysticks such that a given task is fullfilled.…”
Section: Introductionmentioning
confidence: 99%
“…The nearest category of on-ground excavators to an LHD is a wheeled frontend loader. The work at Lancaster University was more of experimental nature on a small backhoe equipped with force sensors [Bradley & Seward (1995)]. Some success was reported for digging trenches in soft soil.…”
Section: Automated Excavation History In Briefmentioning
confidence: 99%
“…In other words, an excavator is always working with maximum output power on the bucket. This is the approach implemented to LUCIE [Seward et al (1992), Bradley & Seward (1995)]. …”
Section: Relevant Research Work On Excavation Automationmentioning
confidence: 99%