Title :
Sticky and slippery collision avoidance for tele-excavation
Author :
Greenspan, Michael ; Ballantyne, John ; Lipsett, Mike
Author_Institution :
Nat. Res. Council of Canada, Ottawa, Ont., Canada
Abstract :
Two new modes of real-time collision avoidance are presented which aid in the effectiveness of remote tele-operation. Sticky collision mode improves system safety by disallowing contact with modelled obstacles. Slippery mode is used do improve the efficiency of the process by reducing the required level of operator skill. Both modes execute in real-time and have been implemented and tested on a remote excavator system. It was found that precise geometries could be excavated using extremely simplified cutting strategies that required very little fine control on the part of the operator, thereby improving the effectiveness of remote tele-excavation
Keywords :
excavators; mobile robots; path planning; telerobotics; real-time collision avoidance; remote excavator system; slippery collision avoidance; sticky collision avoidance; system safety; tele-excavation; Collision avoidance; Councils; Engines; Geometry; Humans; Real time systems; Safety; Samarium; Solid modeling; System testing;
Conference_Titel :
Intelligent Robots and Systems, 1997. IROS '97., Proceedings of the 1997 IEEE/RSJ International Conference on
Conference_Location :
Grenoble
Print_ISBN :
0-7803-4119-8
DOI :
10.1109/IROS.1997.656581
