An experiment in autonomous navigation of an underground mining vehicle

نویسندگان

  • Steve Scheding
  • Gamini Dissanayake
  • Eduardo Mario Nebot
  • Hugh F. Durrant-Whyte
چکیده

This paper describes the theoretical development and experimental evaluation of a navigation system for an autonomous load, haul, and dump truck (LHD) 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.

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عنوان ژورنال:
  • IEEE Trans. Robotics and Automation

دوره 15  شماره 

صفحات  -

تاریخ انتشار 1999