This paper describes the results of the activities carried out in the current phases of the ESPRIT funded project EP 6068 ATHENA (Advanced Teleoperation for eartHwork Equipment NAvigation). The aim of the project is the automation of the operations performed currently by human drivers of earthwork equipment working within waste disposal site. The objective is to operate the vehicle without having a driver on-board by providing the vehicle itself with basic autonomous capabilities, and the control station with advanced teleoperation endowments. This goal will be achieved through the incremental automation of a typical sanitary landfill vehicle, the compactor, starting from a standard commercial one. The first level of automation features a pure manual teleoperation, the second level features basic safety reactions of the vehicle upon detection of risky situations, while the third level aim is to provide more comfort to the operator by allowing a 'high level guidance' of the vehicle through the designation of vehicle geometrical goals and the execution of predefined sequences of motions. More autonomy in the vehicle's operation is foreseen trying to add the capability to avoid the detected risks rather than simply react with a reflex action. At the highest levels of autonomy, the system will face the sanitary landfill management assisting the operator during the tasks planning or the site manager programming the intervention within the sanitary landfill.
Esprit project 6068 'ATHENA' (Advanced Teleoperation for eartHwork Equipment NAvigation): an incremental approach towards the automation of an industrial vehicle
Esprit-Projekt 6068 'ATHENA' (Fortgeschrittene Teleoperation für erdgebundene Gerätenavigation): Ein inkrementelles Verfahren zur Automatisierung eines Nutzfahrzeuges
1995
9 Seiten, 1 Bild, 10 Quellen
Conference paper
English
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