Prediction backhoe loading motion via BP-HMM

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  • BP-HMMによるバックホウの積込みタイミングの予測

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<p>Automated construction vehicles are required to compensate for the reduction of workers in construction industry. In one of construction works, earthmoving work, a dump truck and backhoe work in cooperation and some researcher have been developing the automation of a dump truck which could transport sediment. However, it is difficult for the automated dump truck to work with a backhoe which operated by a human. In leveling sediment, the dump truck must not get close to the backhoe. We build the motion model of the backhoe which is operated by a specific operator with the beta-process hidden Markov model (BP-HMM) and focus the pattern of primitive motions. The instance when the automated dump truck should move to the loading location could be predicted with the confidence by tracking each primitive motion in the pattern.</p>

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