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ISBN 9783843928168

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Daniel Schmidt
Shaping the Future - A Control Architecture for Autonomous Landscaping with an Excavator

220 Seiten, Dissertation Technische Universität Kaiserslautern (2016), Softcover, A5

Zusammenfassung / Abstract

The main contribution of this thesis is the modelling of an adaptive control architecture for cyclically executed tasks by means of autonomous landscaping for one of the most common class of construction machines on a construction site - an excavator.

The system is capable of solving complex tasks in an autonomous way, including handling possible disturbances and operation constraints which occur during the operation.