Automation of an underground mining vehicle using reactive navigation and opportunistic localization
Duff, Elliot, Roberts, Jonathan, & Corke, Peter (2003) Automation of an underground mining vehicle using reactive navigation and opportunistic localization. In Yuh, J (Ed.) Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Volume 4. Institute of Electrical and Electronics Engineers Inc., United States of America, pp. 3775-3780.
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Description
This paper describes 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 be made - a technique we refer to as opportunistic localization. The truck has achieved full-speed autonomous operation at an artificial test mine, and subsequently, at a operational underground mine.
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| ID Code: | 32673 | ||||
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| Item Type: | Chapter in Book, Report or Conference volume (Conference contribution) | ||||
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| Measurements or Duration: | 6 pages | ||||
| Event Title: | 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems | ||||
| Event Dates: | 2003-10-27 - 2003-10-31 | ||||
| Event Location: | Las Vegas, United States | ||||
| DOI: | 10.1109/IROS.2003.1249742 | ||||
| ISBN: | 0-7803-7860-1 | ||||
| Pure ID: | 34107727 | ||||
| Divisions: | Past > QUT Faculties & Divisions > Faculty of Built Environment and Engineering | ||||
| Copyright Owner: | Consult author(s) regarding copyright matters | ||||
| Copyright Statement: | This work is covered by copyright. Unless the document is being made available under a Creative Commons Licence, you must assume that re-use is limited to personal use and that permission from the copyright owner must be obtained for all other uses. If the document is available under a Creative Commons License (or other specified license) then refer to the Licence for details of permitted re-use. It is a condition of access that users recognise and abide by the legal requirements associated with these rights. If you believe that this work infringes copyright please provide details by email to qut.copyright@qut.edu.au | ||||
| Deposited On: | 29 Jun 2010 16:31 | ||||
| Last Modified: | 28 Oct 2025 15:16 |
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