A Proposed Architecture for Autonomous Operations in Backhoe Machines

Carlos Mastalli, Gerardo Fernández-López

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this work is developed an architectureMastalli, Carloswhich consists of four main components: perception system, tasks planning, motion planner, and control systems that allow autonomous operations in backhoe machines. In the first part is described the architecture of control system. A set of techniques for collision mapping of the scene is described and implemented. Moreover, a motion planning system based on Learning from Demonstration using Dynamic Movement Primitives as control policy is proposed, which allows backhoe machines to perform operations in autonomous manner. AFernández-López, Gerardostatement of reasons is presented, wherein we justified the implementation of such motion system versus planners like backslashtext A^*A∗, Probabilistic RoadMap (PRM), Rapidly-exploring Random Tree (RRT), etc. In addition, we present the performance of the architecture in a simulation environment.
Original languageEnglish
Title of host publicationIntelligent Autonomous Systems 13
EditorsEmanuele Menegatti, Nathan Michael, Karsten Berns, Hiroaki Yamaguchi
Place of PublicationCham
PublisherSpringer International Publishing
Pages1549-1559
Number of pages11
ISBN (Electronic)978-3-319-08338-4
ISBN (Print)978-3-319-08337-7
DOIs
Publication statusPublished - 3 Sep 2015
Event13th International Conference Intelligent Autonomous Systems - Padova, Italy
Duration: 15 Jul 201419 Jul 2014
Conference number: 13

Publication series

NameAdvances in Intelligent Systems and Computing
PublisherSpringer, Cham
Volume302
ISSN (Print)2194-5357
ISSN (Electronic)2194-5365

Conference

Conference13th International Conference Intelligent Autonomous Systems
Abbreviated titleIAS-13
Country/TerritoryItaly
CityPadova
Period15/07/1419/07/14

Keywords

  • Autonomous backhoe machine
  • Learning from demonstration
  • Dynamic movement primitives
  • Perception system

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