A robotized dumper for debris removal in tunnels under construction

Tardioli, D. ; Riazuelo, L. (Universidad de Zaragoza) ; Seco, T. ; Espelosín, J. ; Lalana, J. ; Villarroel, J.L. (Universidad de Zaragoza) ; Montano, L. (Universidad de Zaragoza)

Resumen: Tunnels in construction exhibit many challenges for automation. In this work we address the robotization of a conventional dumper for debris removal during the construction of tunnels, in the framework of a technological transfer project. The goal is to convert a dumper into an autonomous vehicle capable of planning, navigate and localize itself. Planning and navigation techniques have been adapted to the special kinodynamic characteristics of the vehicle. The difficulties for having a precise continuous localization in this kind of scenarios, due to the irregularities of the terrain, the changing illumination and the own scenario, have driven to develop hybrid localization techniques to integrate continuous and discrete information, coming from the navigation sensors, some semantic geometric features, and the signal strength propagation in tunnel scenarios. Simulation and real-world experiments are described, and some preliminary results are discussed.

Idioma: Inglés

DOI: 10.1007/978-3-319-70833-1_11

Año: 2018

Publicado en: Advances in intelligent systems and computing 693 (2018), 126-139
ISSN: 2194-5357

Factor impacto SCIMAGO: 0.174 - Control and Systems Engineering (Q3) - Computer Science (miscellaneous) (Q3)

Financiación: info:eu-repo/grantAgreement/ES/MINECO-ERDF/RTC-2015-4099-4

Tipo y forma: Artículo (PostPrint)

Área (Departamento): Área Ingen.Sistemas y Automát. (Dpto. Informát.Ingenie.Sistms.)
Área (Departamento): Proy. investigación HYA (Dpto. Informát.Ingenie.Sistms.)