An experiment in autonomous navigation of an underground mining vehicle

Author

Scheding, Steven ; Dissanayake, Gamini ; Nebot, Eduardo Mario ; Durrant-Whyte, Hugh

Author_Institution

Nat. Robotics Eng. Consortium, Pittsburgh, PA, USA

Volume

15

Issue

1

fYear

1999

fDate

2/1/1999 12:00:00 AM

Firstpage

85

Lastpage

95

Abstract

Describes the theoretical development and experimental evaluation of a navigation system for an autonomous load, haul, and dump truck based on the results obtained during extensive in-situ field trials. The particular contributions of the theoretical work are in designing the navigation system to be able to cope with vehicle slip in rough uneven terrain using information from inertial sensors, odometry, and a bearing only laser. Results are presented using data obtained during the field trials

Keywords

Kalman filters; inertial navigation; laser ranging; mining; mobile robots; path planning; robot kinematics; sensors; autonomous navigation; bearing only laser; field trials; inertial sensors; navigation system; odometry; rough uneven terrain; underground mining vehicle; vehicle slip; Automation; Mobile robots; Navigation; Optical filters; Optical sensors; Product safety; Productivity; Remotely operated vehicles; Sensor systems; Vehicle safety;

fLanguage

English

Journal_Title

Robotics and Automation, IEEE Transactions on

Publisher

ieee

ISSN

1042-296X

Type

jour

DOI

10.1109/70.744605

Filename

744605