Rapid human-assisted, obstacle avoidance system using sparse range point clouds

C Kim, C T Haas, K A Liapi, J McLaughlin, J Teizer, F Bosche

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

    16 Citations (Scopus)
    100 Downloads (Pure)

    Abstract

    Safety is one of the foremost issues in the operation of heavy equipment because of its impact on the construction industry. According to the Occupational Safety and Health Administration (OSHA), a significant percentage of all fatalities in the construction industry stemmed from incidents involving the operation of heavy equipment (OSHA, 1990). One of the major causes of these fatalities is the lack of safety features installed on the heavy equipment that is currently in use. The objective of the research described herein is to develop a human-Assisted obstacle-avoidance system with a 3D workspace model. Human-assisted obstacle avoidance system is proposed and algorithms for obstacle avoidance system such as artificial potential function and minimum distance algorithms are presented as well as algorithms for 3D workspace modeling such as convex hull algorithm and workspace partitioning algorithm. Preliminary results of simulation of obstacle avoidance system are presented.

    Original languageEnglish
    Title of host publicationENGINEERING, CONSTRUCTION AND OPERATIONS IN CHALLENGING ENVIRONMENTS: EARTH AND SPACE 2004
    EditorsRB Malla, A Maji
    Place of PublicationNEW YORK
    PublisherAmerican Society of Civil Engineers
    Pages115-122
    Number of pages8
    ISBN (Print)0-7844-0722-3
    Publication statusPublished - 2004
    Event9th Biennial International Conference on Engineering, Construction and Operations in Challenging Environment - League City Houston
    Duration: 7 Mar 200410 Mar 2004

    Conference

    Conference9th Biennial International Conference on Engineering, Construction and Operations in Challenging Environment
    CityLeague City Houston
    Period7/03/0410/03/04

    Keywords

    • obstacle avoidance
    • 3D workspace modeling
    • heavy equipment operation

    Cite this

    Kim, C., Haas, C. T., Liapi, K. A., McLaughlin, J., Teizer, J., & Bosche, F. (2004). Rapid human-assisted, obstacle avoidance system using sparse range point clouds. In RB. Malla, & A. Maji (Eds.), ENGINEERING, CONSTRUCTION AND OPERATIONS IN CHALLENGING ENVIRONMENTS: EARTH AND SPACE 2004 (pp. 115-122). American Society of Civil Engineers.