Obstacle detection for a mining vehicle using a 2D laser


Autoria(s): Roberts, Jonathan; Corke, Peter
Contribuinte(s)

Jarvis, Ray

Kleeman, Lindsay

Data(s)

2000

Resumo

This paper discusses a number of key issues for the development of robust obstacle detection systems for autonomous mining vehicles. Strategies for obstacle detection are described and an overview of the state-of-the-art in obstacle detection for outdoor autonomous vehicles using lasers is presented, with their applicability to the mining environment noted. The development of an obstacle detection system for a mining vehicle is then detailed. This system uses a 2D laser scanner as the prime sensor and combines dead-reckoning data with laser data to create local terrain maps. The slope of the terrain maps is then used to detect potential obstacles.

Identificador

http://eprints.qut.edu.au/83385/

Publicador

Australian Robotics & Automation Association

Relação

http://www.araa.asn.au/acra/acra2000/papers/paper32.pdf

Roberts, Jonathan & Corke, Peter (2000) Obstacle detection for a mining vehicle using a 2D laser. In Jarvis, Ray & Kleeman, Lindsay (Eds.) Proceedings of the Australian Conference on Robotics and Automation (ACRA 2000), Australian Robotics & Automation Association, Melbourne, Australia, pp. 185-190.

Direitos

Copyright 2000 ARAA

Fonte

School of Electrical Engineering & Computer Science; Science & Engineering Faculty

Palavras-Chave #Autonomous mining vehicles #Obstacle detection #2D laser
Tipo

Conference Paper