Sticky and slippery collision avoidance for tele-excavation
نویسندگان
چکیده
Two n e w modes of real-t ime collision avoidance are presented wh.ich aid in the e.ffectiveness of remote tele-operation. S t i cky coll ision mode improves s y s t e m safety by disallowing contact wi th modelled obstacles. Slippery mode is used t o improve the eff iciency of -the process by reducing t h e required level of operator skill. B o t h modes execute an real-t ime and have been ampdemented and tested on a remote excavator system. It was f o u n d that precise geometries could be excavated using extremely simplified cutt ing strategies that requared very l i t t le f i ne control o n the part of the operator, thereby improving the eflectiveness of remote tele-excavation.
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