Abstract

The U.S. Army Topographic Engineering Center (TEC) and Caterpillar Inc. have cooperated in the joint research and development of a system to position, track, and maneuver construction and other equipment during their normal construction activities. The two main components of this research focus are the positioning system needed for navigation and the Computer Aided Drafting and Design (CADD) interface for automation. The positioning system is based on software developed by TEC that utilizes the Global Positioning System (GPS). It is called the On-the-Fly (OTF) Differential GPS system. Several repeatability tests were conducted to test the accuracy and precision of the OTF software. The results proved that the OTF system can provide an accuracy of 3 centimeters in a robust manner. The positioning system software has been integrated with Caterpillar developed software tools to automate construction activities and increase productivity and safety in the project area. This software allows the construction vehicle to perform its operations and provide real time as-built drawings in the process. This joint effort has produced an autonomous construction vehicle navigation and automation system that has been demonstrated on a Track-Type Tractor (dozer) and will be adapted to various other construction vehicle platforms, which include an off-highway truck and a motor grader. CADD tools based on the envisioned vehicle navigation system have been integrated, offering the user highly accurate and responsive production, planning and monitoring tools that were previously unavailable.