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Rapid Human-Assisted Obstacle Avoidance System Using Sparse Range Point Clouds

C. Kim, C. T. Haas, K. A. Liapi, J. McLaughlin, J. Teizer and F. Bosché
Proceedings of the 9th ASCE Aerospace Division International Conference ``Earth & Space''
March 2004

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. 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.


Link to publisher's page
@InProceedings{eth_biwi_00601,
  author = {C. Kim and C. T. Haas and K. A. Liapi and J. McLaughlin and J. Teizer and F. Bosché},
  title = {Rapid Human-Assisted Obstacle Avoidance System Using Sparse Range Point Clouds},
  booktitle = {Proceedings of the 9th ASCE Aerospace Division International Conference ``Earth & Space''},
  year = {2004},
  month = {March},
  pages = {115-122},
  keywords = {Kim C., Haas C.T., Liapi K.A., McLaughlin J., Teizer J., Bosche F.}
}