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Artificial intelligence in the control and operation of construction plant - the autonomous robot excavator.

Bradley, D. A. and Seward, D. W. and Mann, J. E. and Goodwin, M. R. (1993) Artificial intelligence in the control and operation of construction plant - the autonomous robot excavator. Automation in construction, 2 (3). pp. 217-228.

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Abstract

The paper describes a significant development in the intelligent automatic control of an adaptive robot. The particular application concerns the problem of autonomous excavation, and the subtlety of the approach lies in the fact that the machine can cope with highly variable ground conditions and even underground obstructions without human interference. The nature of the excavation problem is first described. The development of a working fifth-scale model of an excavator—LUCIE—the Lancaster University Computerised Intelligent Excavator. The hardware systems are briefly described, but the main emphasis of the paper concerns the method by which the AI technique of a rule-based “production system” is used to control the tip of the excavator bucket. The software is in two distinct parts; a low-level velocity controller and a high level “activities manager” which contains the rules. It is concluded that the best way to achieve subtle, human-like, automatic control is by means of simple rules and heuristics, and not complex control algorithms. Finally the paper reports field trials of LUCIE, and goes on to describe proposed future developments.

Item Type: Article
Journal or Publication Title: Automation in construction
Uncontrolled Keywords: Excavation ; robotics ; artificial intelligence
Subjects: T Technology > TA Engineering (General). Civil engineering (General)
Departments: Faculty of Science and Technology > Engineering
VC's Office
Faculty of Science and Technology > Lancaster Environment Centre
ID Code: 20605
Deposited By: ep_ss_importer
Deposited On: 02 Dec 2008 11:46
Refereed?: No
Published?: Published
Last Modified: 26 Jul 2012 15:39
Identification Number:
URI: http://eprints.lancs.ac.uk/id/eprint/20605

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