TNES: terrain traversability mapping, navigation and excavation system for autonomous excavators on worksite

We present a terrain traversability mapping and navigation system (TNS) for autonomous excavator applications in an unstructured environment. use efficient approach to extract features from RGB images 3D point clouds incorporate them into global map planning navigation. Our can adapt changing environments update the information real-time. Moreover, we novel dataset, Complex Worksite Terrain which consists of construction sites with seven categories based on navigability. algorithms improve accuracy over previous methods by 4.17–30.48 $$\%$$ reduce MSE 13.8–71.4 . have combined our control modules observe $$49.3\%$$ improvement overall success rate. Based TNS, demonstrate first that navigate through consisting deep pits, steep hills, rock piles, other complex features. In addition, combine proposed TNS excavation (AES), deploy new pipeline, TNES, more site. With minimum human intervention, capability tasks.