Reactive navigation and opportunistic localization for autonomous underground mining vehicles

Roberts, Jonathan M., Duff, Elliot S., & Corke, Peter (2002) Reactive navigation and opportunistic localization for autonomous underground mining vehicles. Information Sciences, 145(1/2), pp. 127-146.

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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 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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31 citations in Scopus
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19 citations in Web of Science®

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ID Code: 33785
Item Type: Journal Article
Refereed: Yes
Keywords: Mining, Wall-following, Relative navigation, Reactive navigation, Localization, Automation, Scanning range laser, Nodal-map
DOI: 10.1016/S0020-0255(02)00227-X
ISSN: 0020-0255
Subjects: Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > ELECTRICAL AND ELECTRONIC ENGINEERING (090600)
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
Past > Schools > School of Engineering Systems
Copyright Owner: Copyright 2002 Elsevier
Deposited On: 01 Sep 2010 01:32
Last Modified: 12 Sep 2014 04:15

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