Title :
Slip modelling and aided inertial navigation of an LHD
Author :
Scheding, S. ; Dissanayake, G. ; Nebot, E. ; Durrant-Whyte, H.
Author_Institution :
Dept. of Mech. Eng., Sydney Univ., NSW, Australia
Abstract :
This paper describes the theoretical development and experimental evaluation of a guidance system for an autonomous load, haul and dump truck (LHD) for use in underground mining. The particular contributions of this paper are in designing the navigation system to be able to cope with vehicle slip in rough uneven terrain using information from an inertial navigation system (INS) and a bearing only laser. Results are presented using data obtained during field trials
Keywords :
inertial navigation; kinematics; laser ranging; mining; optical sensors; vehicles; LHD truck; bearing only laser; inertial navigation system; kinematics; laser sensors; load haul dump truck; slip modelling; underground mining vehicle; uneven terrain; Electronic mail; Inertial navigation; Mechanical engineering; Mobile robots; Optical design; Ores; Product safety; Productivity; Remotely operated vehicles; Sensor systems;
Conference_Titel :
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3612-7
DOI :
10.1109/ROBOT.1997.619066
