Automation of an underground mining vehicle using reactive navigation and opportunistic localization
نویسندگان
چکیده
Absfmcf-This paper describec the implementation of an autonomous navigation system onto a 30 tonne Load-Haul. Dump truck. 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 he made a technique we refer to as opportunistic localization. The truck has achieved full-speed antonomous operation at an artificial test mine, and subsequently, at a operational underground mine.
منابع مشابه
Reactive navigation and opportunistic localization for autonomous underground mining vehicles
This 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 decision...
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