| Title |
A Path Generation Method Considering the Work Behavior of Operators for an Intelligent Excavator |
| Keywords |
excavator;construction automation;earthwork;task planing;heuristics;굴삭기;건설자동화;토공;작업계획;휴리스틱스 |
| Abstract |
Recent decrease in the availability of experienced skilled labor and a corresponding lack of new entrants has required the need for automating many of the construction equipment used in the construction industry. In particular, excavators are widely used throughout earthwork operations and automating its tasks enables work to be performed with higher productivity and safety. This paper introduces an optimal path generation method which is one of the core technologies required to make "Intelligent" excavators a reality. The method divides a given earthwork area into unit cells, identifies networks created by linking these cells, and identifies the optimal path an excavator should follow to minimize its total transportation costs. In addition, the method also accounts for drainage direction and path continuity to ensure that the generated path considers site specific conditions. |