Integrated Technical Solutions for Urban Construction Using Autonomous Excavators

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Since construction is an industrial sector where a large amount of labor is required and workers are usually under harsh and hazardous environmental conditions, productivity and safety are key factors to be considered. The transformation from manual to autonomous operation, especially in larger and modern construction sites, can be a solution to improve productivity, to reduce fatal accidents, and to solve the problem of acute labor shortages. Urban construction is a particularly challenging sector due to environmental restriction, risk of collision accidents and damage to ground utilities, and chemical hazards, and thus it requires the adoption of sophisticated autonomous control and sensing technologies to improve productivity and safety. An excavator is the most representative equipment used for urban construction since it permits accurate operations for major urban construction tasks including installation of water pipe and cables, and its structure allows for applying state-of-the-art technologies in robotic manipulation to propose a new framework that can improve autonomous operation of construction equipment. Although there have been various approaches to enhance the operational performance of excavators, very little research has focused on autonomous operation of construction equipment for urban sites due to its high level of complexity. Therefore, this study will investigate integrated technical solutions for urban construction using autonomous excavators by combining the perspectives of control, sensing, and safety for maximization of productivity and effective safety management. The technical objectives of the proposed study include 1) to develop new methods for `underground 3D-terrain detection' and `soil-interaction based tracking control/optimal path planning' required for urban autonomous excavation; 2) to provide `predictive' and `adaptive' safety strategies for worker-machine interaction and protection of infrastructure. By achieving the above objectives, this research will generate a unique technical framework for autonomous urban construction, and contribute significantly to increasing productivity and quality and to reducing fatal accidents and infrastructure damage in the Canadian construction industry. In addition, it will provide a remedy for recent labor shortages arising from the aging population. Scientific and engineering findings from this program will also give a boost to highly potential applications such as mining, agriculture, rescue, and defense, which can enhance monitoring, control, and safety functions for autonomous systems in harsh and complex environments. The proposed program will offer an exclusive venue for HQP training balanced between theoretical knowledge and practical skills that are required to develop cutting-edge technologies for the next generation of autonomous construction equipment. Finally, this program will guarantee inclusive and equitable HQP recruitment for under-represented groups.