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Advanced Teleoperation for Earthwork Equipment Navigation

Objective

The objective of ATHENA is to develop a remotely operated semi-autonomous vehicle for use in an unstructured environment. The work will focus on an earthworking vehicle for sanitary landfill, which poses the additional problem that the environment is reshaped by the action of the vehicle.

The approach will be to build a remote guidance system into an existing vehicle to include:

- a hierarchical control architecture incorporating both behavioural and functional concepts
- minimal sensor enhancement
- data fusion from multiple sensors to obtain robust scene understanding
- model-based navigation supported by sensor input, selected from odometers, gyroscopes, global positioning devices, beacons and vision systems
- a person/machine interface.

Each component of the guidance system will be integrated into the demonstration vehicle and tested at a landfill site provided by an industrial partner. This process will culminate in a demonstration of the full system.
The results will be applicable to, for example, mining, tunnelling and road construction, as well as landfill, and will be incorporated in products marketed by industrial members of the consortium.

Coordinator

Tecnopolis Csata
Address
Strada Prov Casamassima Km3
70010 Valenzano
Italy

Participants (10)

ARNEX NAVIGATION SYSTEMS
Sweden
Address
Stora Badhusgatan, 16
41121 Goteborg
Assolari Nuove Tecnologie
Italy
Address
Via Marconi 90
24068 Seriate Bergamo
Calabrese Engineering
Italy
Address
Via G. Murari 96 Km 104
70023 Modugno Bari
Fiat Hitachi Excavators Divisione Benati Macchine
Italy
Address
Strada Statale 610 Selice 43/A
40026 Imola Bologna
ISRA Systemtechnik GmbH
Germany
Address
Mornewegstraße 45A
64293 Darmstadt
Robosoft SA
France
Address
15-17 Rue De Verdun
92600 Asnieres
Technische Hochschule Darmstadt
Germany
Address
Landgraf-georg-straße 4
64283 Darmstadt
Università degli Studi di Genova
Italy
Address
Via All'opera Pia 11A
16145 Genova
WTCM INDUSTRIAL AUTOMATION
Belgium
Address
Rue Des Drapiers, 21
1050 Bruxelles
ZENON
Greece
Address
Egiallas, 48
15125 Athenes