Reactive navigation and opportunistic localization for autonomous underground mining vehicles
2002; Elsevier BV; Volume: 145; Issue: 1-2 Linguagem: Inglês
10.1016/s0020-0255(02)00227-x
ISSN1872-6291
AutoresJonathan Roberts, Elliot Duff, Peter Corke,
Tópico(s)Advanced Manufacturing and Logistics Optimization
ResumoThis paper describes an autonomous navigation system for a large underground mining vehicle. The control architecture is based on a robust reactive wall-following behaviour. To make it purposeful we provide driving hints derived from an approximate nodal-map. For most of the time, the vehicle is driven with weak localization (odometry). This need only be improved at intersections where decisions must be made – a technique we refer to as opportunistic localization. The paper briefly reviews absolute and relative navigation strategies, and describes an implementation of a reactive navigation system on a 30 tonne Load-Haul-Dump truck. This truck has achieved full-speed autonomous operation at an artificial test mine, and subsequently, at a operational underground mine.
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