Automation of an underground mining vehicle using reactive navigation and opportunistic localization

Duff, E. S., Roberts, Jonathan M., & Corke, Peter (2003) Automation of an underground mining vehicle using reactive navigation and opportunistic localization. In IEEE, IEEE, Las Vegas, Nevada.

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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.

Impact and interest:

6 citations in Scopus
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2 citations in Web of Science®

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Full-text downloads:

586 since deposited on 29 Jun 2010
75 in the past twelve months

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ID Code: 32673
Item Type: Conference Paper
Refereed: Yes
Keywords: automated vehicle in underground mine
Subjects: Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > ELECTRICAL AND ELECTRONIC ENGINEERING (090600) > Control Systems Robotics and Automation (090602)
Divisions: Current > Schools > School of Electrical Engineering & Computer Science
Past > QUT Faculties & Divisions > Faculty of Built Environment and Engineering
Current > Institutes > Institute for Future Environments
Current > QUT Faculties and Divisions > Science & Engineering Faculty
Deposited On: 29 Jun 2010 06:31
Last Modified: 12 Sep 2014 07:33

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