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Enhanced Path Planning Method for Improving Safety and Productivity of Excavation Operations

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Enhanced Path Planning Method for Improving Safety and Productivity of Excavation Operations

Langari, Seied Mohammad (2015) Enhanced Path Planning Method for Improving Safety and Productivity of Excavation Operations. Masters thesis, Concordia University.

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Abstract

Improving safety and productivity of earthwork operations is of paramount importance, especially in congested sites where collisions are more probable. Real-time Location Systems and Automated Machine Guidance and Control technologies are expected to improve both safety and productivity of earthwork operations by providing excavator operators a higher level of support regarding the path planning of excavators based on site conditions. However, in spite of the large number of studies related to automated path planning of excavators using well established algorithms from robotics, such as Rapidly-exploring Random Trees (RRT) and Probabilistic Roadmaps (PRM), these studies do not fully consider the engineering constrains of the equipment and do not result in smooth and optimal paths that can be applied in practice. This research aims to improve the path planning of excavators in a congested site where the speed of the algorithm and the quality of the path significantly influence the overall performance of the earthwork operations. The proposed method is implemented and tested in Unity 3D game engine environment for visualization and verification purposes. The efficiency of the proposed method in generating a collision-free path, which can ensure improved productivity, is verified both quantitatively and visually. The comparative results with other recent and modified versions of the RRT algorithm show that the proposed algorithm is able to find a higher quality path in a shorter time.

Divisions:Concordia University > Gina Cody School of Engineering and Computer Science > Building, Civil and Environmental Engineering
Item Type:Thesis (Masters)
Authors:Langari, Seied Mohammad
Institution:Concordia University
Degree Name:M. Sc.
Program:Building Engineering
Date:14 December 2015
Thesis Supervisor(s):Hammad, Amin
ID Code:980785
Deposited By: SEIED MOHAMMAD LANGARI
Deposited On:02 Sep 2022 14:11
Last Modified:02 Sep 2022 14:11
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