Automation of an underground mining vehicle using reactive navigation and opportunistic localization
Data(s) |
2003
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Resumo |
This paper describes the implementation of an autonomous navigation system onto a 30 tonne Load-Haul-Dump truck. The control architecture is based on a robust reactive wall-following behaviour. To make it purposeful we provide driving hints derived from an approximate nodal-map. For most of the time, the vehicle is driven with weak localization (odometry). This need only be improved at intersections where decisions must be made - a technique we refer to as opportunistic localization. The truck has achieved full-speed autonomous operation at an artificial test mine, and subsequently, at a operational underground mine. |
Formato |
application/pdf |
Identificador | |
Publicador |
IEEE |
Relação |
http://eprints.qut.edu.au/32673/1/corke1249742%5B1%5D.pdf http://ieeexplore.ieee.org/Xplore/dynhome.jsp Duff, E. S., Roberts, Jonathan M., & Corke, Peter (2003) Automation of an underground mining vehicle using reactive navigation and opportunistic localization. In IEEE, IEEE, Las Vegas, Nevada. |
Fonte |
School of Electrical Engineering & Computer Science; Faculty of Built Environment and Engineering; Institute for Future Environments; Science & Engineering Faculty |
Palavras-Chave | #090602 Control Systems Robotics and Automation #automated vehicle in underground mine |
Tipo |
Conference Paper |