Experiments in autonomous underground guidance

Author

Scheding, S. ; Nebot, E.M. ; Stevens, M. ; Durrant-Whyte, H. ; Roberts, J. ; Corke, P. ; Cunningham, Joseph J. ; Cook, Byron

Author_Institution

Dept. of Mech. Eng., Sydney Univ., NSW, Australia

Volume

3

fYear

1997

fDate

20-25 Apr 1997

Firstpage

1898

Abstract

This paper presents the results of an experimental program for evaluating sensors and sensing technologies in an underground mining applications. The objective of the experiments is to infer what combinations of sensors will provide reliable navigation systems for autonomous vehicles operating in a harsh underground environment. Results from a wide range of sensors are presented and analysed. A conclusion as to the best combination of sensors is drawn

Keywords

accelerometers; computer vision; gyroscopes; inertial navigation; laser beam applications; mining; sensor fusion; ultrasonic transducers; vehicles; accelerometers; autonomous guidance; dead reckoning sensors; encoders; gyroscopes; laser scanner; sensing technology; sensor fusion; strap down inertial navigation system; ultrasonic sensors; underground mining vehicle; video camera; Automation; Costs; Dead reckoning; Electronic mail; Instruction sets; Navigation; Productivity; Robustness; Sensor systems; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on

Conference_Location

Albuquerque, NM

Print_ISBN

0-7803-3612-7

Type

conf

DOI

10.1109/ROBOT.1997.619065

Filename

619065