{"id":{"repo_id":"texas","oai_identifier":"oai:repositories.lib.utexas.edu:2152/117297"},"canonical_url":"https://search.dev.ndltd.org/etd/texas/oai:repositories.lib.utexas.edu:2152/117297","repository":{"repo_id":"texas","name":"University of Texas","base_url":"https://repositories.lib.utexas.edu/server/oai/request"},"display":{"title":"A preliminary study on path planning and obstacle avoidance for construction equipment based on real-time spatial models","abstract":"On obstacle-cluttered construction sites where heavy equipment is in use, safety and productivity issues are major concerns. Efficient and effective algorithms for obstacle avoidance and path planning, based on real-time three dimensional spatial modeling, have the potential not only to obviate collisions between heavy equipment and other on-site objects, but also to allow autonomous heavy equipment to move to target positions quickly without any accidents. Therefore, algorithms for obstacle avoidance and path planning can play a key role in addressing safety and productivity issues. This research constitutes a preliminary study of a path planning method. Several algorithms for image data acquisition, real-time 3D spatial modeling, and shortest path finding were adapted and developed. These algorithms were integrated to construct an entire, comprehensive collision-free path. Once the path planning algorithm was developed, computer simulation was conducted to verify its accuracy. The algorithm worked well in a proposed simulation environment cluttered with a static object and a moving object. The occupancy grid algorithm successfully built a suitable 3D local model in real-time, and the path finding algorithm was able to produce a collision-free motion trajectory. This research result shows that the proposed path planning approach is potentially feasible for contributing to improved safety and productivity, and to future applications for autonomous heavy equipment operation in construction","abstract_html":"On obstacle-cluttered construction sites where heavy equipment is in use, safety and productivity issues are major concerns. Efficient and effective algorithms for obstacle avoidance and path planning, based on real-time three dimensional spatial modeling, have the potential not only to obviate collisions between heavy equipment and other on-site objects, but also to allow autonomous heavy equipment to move to target positions quickly without any accidents. Therefore, algorithms for obstacle avoidance and path planning can play a key role in addressing safety and productivity issues. This research constitutes a preliminary study of a path planning method. Several algorithms for image data acquisition, real-time 3D spatial modeling, and shortest path finding were adapted and developed. These algorithms were integrated to construct an entire, comprehensive collision-free path. Once the path planning algorithm was developed, computer simulation was conducted to verify its accuracy. The algorithm worked well in a proposed simulation environment cluttered with a static object and a moving object. The occupancy grid algorithm successfully built a suitable 3D local model in real-time, and the path finding algorithm was able to produce a collision-free motion trajectory. This research result shows that the proposed path planning approach is potentially feasible for contributing to improved safety and productivity, and to future applications for autonomous heavy equipment operation in construction","abstract_has_math":false,"creators":["Chi, Seok Ho"],"institution":"University of Texas at Austin","degree_name":"Master of Science in Engineering","degree_level":"Masters","degree_discipline":"Civil Engineering","degree_department":null,"school":null,"contributors":[],"advisors":["Caldas, Carlos H."],"committee_chairs":[],"committee_members":[],"year":2005,"date_issued":"2005-12-24","date_published":"2005-12-24","updated_at":"2026-07-24T05:00:58Z","subjects":["Path planning","Construction equipment","Real-time spatial models"],"languages":["eng"],"rights":["Copyright © is held by the author. 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Efficient and effective algorithms for obstacle avoidance and path planning, based on real-time three dimensional spatial modeling, have the potential not only to obviate collisions between heavy equipment and other on-site objects, but also to allow autonomous heavy equipment to move to target positions quickly without any accidents. Therefore, algorithms for obstacle avoidance and path planning can play a key role in addressing safety and productivity issues. This research constitutes a preliminary study of a path planning method. Several algorithms for image data acquisition, real-time 3D spatial modeling, and shortest path finding were adapted and developed. These algorithms were integrated to construct an entire, comprehensive collision-free path. Once the path planning algorithm was developed, computer simulation was conducted to verify its accuracy. The algorithm worked well in a proposed simulation environment cluttered with a static object and a moving object. The occupancy grid algorithm successfully built a suitable 3D local model in real-time, and the path finding algorithm was able to produce a collision-free motion trajectory. This research result shows that the proposed path planning approach is potentially feasible for contributing to improved safety and productivity, and to future applications for autonomous heavy equipment operation in construction"]},{"key":"dc:format.medium","label":"Dc Format Medium","values":["electronic"]},{"key":"dc:title","label":"Title","values":["A preliminary study on path planning and obstacle avoidance for construction equipment based on real-time spatial models"]}]}],"canonical_facts":{"dc:contributor.advisor":["Caldas, Carlos H."],"dc:creator":["Chi, Seok Ho"],"dc:date.accessioned":["2023-01-25T20:15:23Z"],"dc:date.available":["2023-01-25T20:15:23Z"],"dc:date.issued":["2005-12-24"],"dc:description.abstract":["On obstacle-cluttered construction sites where heavy equipment is in use, safety and productivity issues are major concerns. 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The occupancy grid algorithm successfully built a suitable 3D local model in real-time, and the path finding algorithm was able to produce a collision-free motion trajectory. This research result shows that the proposed path planning approach is potentially feasible for contributing to improved safety and productivity, and to future applications for autonomous heavy equipment operation in construction"],"dc:format.medium":["electronic"],"dc:identifier.uri":["https://hdl.handle.net/2152/117297","http://dx.doi.org/10.26153/tsw/44178"],"dc:language.iso":["eng"],"dc:rights":["Copyright © is held by the author. Presentation of this material on the Libraries' web site by University Libraries, The University of Texas at Austin was made possible under a limited license grant from the author who has retained all copyrights in the works."],"dc:subject":["Path planning","Construction equipment","Real-time spatial models"],"dc:title":["A preliminary study on path planning and obstacle avoidance for construction equipment based on real-time spatial models"],"dc:type":["Thesis"],"thesis:degree_discipline":["Civil Engineering"],"thesis:degree_level":["Masters"],"thesis:degree_name":["Master of Science in Engineering"],"thesis:institution_name":["University of Texas at Austin"]},"updated_at":"2026-07-24T05:00:58Z"}