A preliminary study on path planning and obstacle avoidance for construction equipment based on real-time spatial models

dc.contributor.advisorCaldas, Carlos H.
dc.creatorChi, Seok Ho
dc.date.accessioned2023-01-25T20:15:23Z
dc.date.available2023-01-25T20:15:23Z
dc.date.issued2005-12-24
dc.description.abstractOn obstacle-cluttered construction sites where heavy equipment is in use, safety and productivity issues are major concerns. Efficient and effective algorithms for obstacle avoidance and path planning, based on real-time three dimensional spatial modeling, have the potential not only to obviate collisions between heavy equipment and other on-site objects, but also to allow autonomous heavy equipment to move to target positions quickly without any accidents. Therefore, algorithms for obstacle avoidance and path planning can play a key role in addressing safety and productivity issues. This research constitutes a preliminary study of a path planning method. Several algorithms for image data acquisition, real-time 3D spatial modeling, and shortest path finding were adapted and developed. These algorithms were integrated to construct an entire, comprehensive collision-free path. Once the path planning algorithm was developed, computer simulation was conducted to verify its accuracy. The algorithm worked well in a proposed simulation environment cluttered with a static object and a moving object. The occupancy grid algorithm successfully built a suitable 3D local model in real-time, and the path finding algorithm was able to produce a collision-free motion trajectory. This research result shows that the proposed path planning approach is potentially feasible for contributing to improved safety and productivity, and to future applications for autonomous heavy equipment operation in constructionen_US
dc.description.departmentCivil, Architectural, and Environmental Engineeringen_US
dc.format.mediumelectronicen_US
dc.identifier.urihttps://hdl.handle.net/2152/117297
dc.identifier.urihttp://dx.doi.org/10.26153/tsw/44178
dc.language.isoengen_US
dc.relation.ispartofUT Electronic Theses and Dissertationsen_US
dc.rightsCopyright © is held by the author. Presentation of this material on the Libraries' web site by University Libraries, The University of Texas at Austin was made possible under a limited license grant from the author who has retained all copyrights in the works.en_US
dc.rights.restrictionRestricteden_US
dc.subjectPath planningen_US
dc.subjectConstruction equipmenten_US
dc.subjectReal-time spatial modelsen_US
dc.titleA preliminary study on path planning and obstacle avoidance for construction equipment based on real-time spatial modelsen_US
dc.typeThesisen_US
dc.type.genreThesisen_US
thesis.degree.departmentCivil, Architectural, and Environmental Engineeringen_US
thesis.degree.disciplineCivil Engineeringen_US
thesis.degree.grantorUniversity of Texas at Austinen_US
thesis.degree.levelMastersen_US
thesis.degree.nameMaster of Science in Engineeringen_US
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