Controlling an Intelligent Excavator for Autonomous Digging in Difficult Ground

Abstract

This paper reports on the recent advances made in developing an autonomous robot excavator. Previous work on a fifth-scale model was reported at earlier symposia, but the technology has now been transferred to a real excavator LUCIE Lancaster University Computerised Intelligent Excavator. The paper concentrates on the architecture of the software control which enables the machine to modify its behaviour to cope with highly varying ground conditions. A single powerful processor controls the low-level motion of the excavator arm, as well as high level tactical and strategic behaviour. An A.I. rule-based approach has been adopted for high-level functions. Successful field trials are reported.