KSCE Journal of Civil and Environmental Engineering Research (대한토목학회논문집)

Korean Society of Civil Engeneers (대한토목학회)
권호 표지
DOI QR코드

DOI QR Code

Development of Task Planning System for Intelligent Excavating System Applying Heuristics

휴리스틱스(Heuristics)를 활용한 지능형 굴삭 시스템의 Task Planning System 개발

  • Received : 2008.07.04
  • Accepted : 2008.09.09
  • Published : 2008.11.30
Download PDF
⟨ Previous Next ⟩

Abstract

These days, almost every industry's production line has become automatic and this phenomenon brought a lot of benefits such as increase in productivity and economical effect, assurance in industrial safety, better quality and compatibility. However, unlike industrial production line, in construction industry, automation has number of barriers like uncertainty incidents and intellectual judgment to make ability to make solution out of it. Therefore construction industry is still demanding use of construction machine through labor. Due to this matter operational labor in construction industry is aging and fading. To solve these problem, in developed nations like Europe, US or Japan are keep researching for the automation in construction and road pavement, strengthening and some other simple operations have been worked through automation but in civil engineering site, automation research is still low despite of its importance in constructional site. For automating civil engineering operation, effective operational plan have to be set by analyzing ground information acquainted. If skillful worker apply heuristics, trial & error can be reduced with increased safety and the effective work plan can be established. Hence, this research will introduce Intellectual Task Planning System for Intelligent Excavating System's effective work plan and heuristics applied in each steps.

현재 전 세계적으로 이미 대부분 산업에서의 생산라인은 자동화되었으며 이는 생산성 및 경제성의 향상, 산업 재해에 대한 안전성 확보, 품질 향상 및 경쟁력 향상 등 많은 이익을 가져왔다. 그러나 건설 산업에서 자동화는 일반적인 산업생산라인과 달리 끊임없는 불확정적인 사건의 발생과 이에 따른 지능적 판단 및 처리 능력의 필요성으로 인한 해결해야 할 많은 어려움이 따르기 때문에 여전히 건설 기계장비 사용을 통한 노동력 투입에 의존하고 있다. 이러한 문제를 해결하기위하여 유럽, 미국, 일본 등 선진국에서 건설 자동화를 위한 끊임없는 연구가 진행 중이며 도로 포장, 다짐 및 작업프로세스가 비교적 단순한 반복형 작업에 대하여 자동화가 많이 이루어 졌지만 건설 현장에서 가장 비중을 많이 차지하는 토공 작업에 대하여 아직 자동화 연구가 미흡하다. 토공 작업의 자동화를 위해서는 획득된 지형정보를 분석하여 효율적인 작업 계획의 수립이 수행되어야 하며, 이를 위해 숙련된 작업자의 휴리스틱스(heuristics)를 활용하면 보다 시행착오가 적고 안전하며 효율적인 작업계획을 수립할 수 있을 것이다. 따라서 본 연구에서는 지능형 굴삭 시스템의 효율적인 작업계획의 수립을 위한 시스템인 지능형 Task Planning System의 구성 체계 및 각 단계마다 적용된 휴리스틱스(heuristics)에 대하여 소개하여 본다.

Keywords

References

  1. 서종원, 박창우, 장달식(2007) 지능형 굴삭시스템 개발-연구단 소개-. 2007년도 정기학술발표대회논문집, 한국건설관리학회, pp. 197-204.
  2. 이원식, 송순호, 이승수, 서종원, 김성근(2007) 지능형 굴삭을 위한 토공작업계획 시스템의 구조설계. 2007년도 정기학술발표대회논문집, 한국건설관리학회, pp. 921-924.
  3. 천효남, 천효주, 이경민(2007) 건설공사실무(굴삭기응용실전편), 크라운출판사.
  4. Anthony Stentz, John Bares, Sanjiv Singh, and Patrick Rowe (1999) A robotic excavator for autonomous truck loading, Autonomous Robots, Vol. 7, pp. 175-186. https://doi.org/10.1023/A:1008914201877
  5. Bradley, D.A. and Seward, D.W. (1995) Developing real-time autonomous excavation-the LUCIE story, Decision and Control, Proceedings of the 34th IEEE Conference on, Vol. 3, No. 13-15, pp. 3028-3033.
  6. Budny, E. and Gutkowski, W. (1998) Shortest path of an excavator bucket in its working zone, Proceedings of the ASCE Specialty Conference on Robotics for Challenging Environments, pp. 147-153.
  7. Fukaya, K., Nakamura, T., Uumezaki, S., Lu, J., and Egawa, Y. (2002) Development of excavator simulator and characteristic of operator, SICE 2002. Proceedings of the 41st SICE Annual Conference, Vol. 5, No. 5-7, pp. 2815-2818.
  8. Ha, Q.P. and Rye, D.C. (2004), A control architecture for robotic excavation in construction, Computer-Aided Civil and Infrastructure Engineering, Vol. 19, Issue 1, pp. 28-41. https://doi.org/10.1111/j.1467-8667.2004.00335.x
  9. Howard N. Cannon (1999) Extended Earthmoving with an Autonomous Excavator, M.S(c), The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA.
  10. Lever, Paul J.A., and Wang, Fei-Yue (1995) Intelligent Excavator Control System For Lunar Mining System, Journal of Aerospace Engineering Vol. 8, No. 1, pp. 16-24. https://doi.org/10.1061/(ASCE)0893-1321(1995)8:1(16)
  11. Navon, R., Goldschmidt, E., and Shpatnisky, Y. (2004) A concept proving prototype of automated earthmoving control, Automation in Construction Vol. 13, pp. 225-239. https://doi.org/10.1016/j.autcon.2003.08.002
  12. Quang Ha, Santos, M., Quang Nguyen, Rye, D., and Durrant- Whyte, H (2002) Robotic excavation in construction automation, Robotics & Automation Magazine, IEEE, Vol. 9, Issue 1, pp. 20-28.
  13. Singh, S. and Simmons, R. (1992) Task planning for robotic excavation, Intelligent Robots and Systems, Proceedings of the 1992 lEEE/RSJ International Conference on, Vol. 2, No. 7-10, pp. 1284-1291.
  14. Singh, S. and Cannon, H. (1998) Multi-resolution planning for earthmoving, Robotics and Automation, Proceedings. 1998 IEEE International Conference on, Vol. 1, No. 16-20, pp. 121-126.
  15. Sanjiv Singh (1997) State of the Art in Automation of Earthmoving, Journal of AEROSPACE Engineering, October pp. 179-188.
  16. Williun C. Stone, Geraldine Cheok, and Robert Ripman, (2000) Automated Earthmoving Status Determination, ASCE conference on Robotics for Challenging Environment.
  17. Yuki Sakaida, Daisuke Chugo, Kuniaki Kawabata, Hayato Kaetsu, Hajime Asama (2006) The Analysis of Excavator Operation by Skillful Operator, Proc. 23rd ISARC Tokyo, pp. 543-547.