Title :
Evaluation of internal navigation sensor suites for underground mining vehicle navigation
Author :
Madhavan, Raj ; Nettleton, Eric ; Nebot, Eduardo ; Dissanayake, Gamini ; Cunningham, Jock ; Durrant-Whyte, Hugh ; Corke, Peter ; Roberts, Jonathan
Author_Institution :
ACFR, Sydney Univ., NSW, Australia
Abstract :
This paper describes a series of trials that were done at an underground mine in New South Wales, Australia. Experimental results are presented from the data obtained during the field trials and suitable sensor suites for an autonomous mining vehicle navigation system are evaluated
Keywords :
encoding; inertial navigation; kinematics; laser beam applications; mining; position control; sensors; vehicles; Australia; inertial navigation system; kinematics; laser guidance; navigation; pose estimation; position control; underground mining vehicle; wheel encoder; Australia; Calibration; Mobile robots; Navigation; Remotely operated vehicles; Robot sensing systems; Robotics and automation; Robustness; Sensor phenomena and characterization; Vehicle safety;
Conference_Titel :
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Conference_Location :
Detroit, MI
Print_ISBN :
0-7803-5180-0
DOI :
10.1109/ROBOT.1999.772443
