Redundant sensing for localisation in outdoor industrial environments
Roberts, Jonathan M., Tews, Ashley, & Nuske, Stephen (2008) Redundant sensing for localisation in outdoor industrial environments. In Proceedings of 6th IARP/IEEE-RAS/EURON Joint Workshop on Technical Challenges for Robot Dependability in Human Environments (IARP '08), Pasadena, California, The United States of America.
We describe our experiences with automating a large fork-lift type vehicle that operates outdoors and in all weather. In particular, we focus on the use of independent and robust localisation systems for reliable navigation around the worksite. Two localisation systems are briefly described. The first is based on laser range finders and retro-reflective beacons, and the second uses a two camera vision system to estimate the vehicle’s pose relative to a known model of the surrounding buildings. We show the results from an experiment where the 20 tonne experimental vehicle, an autonomous Hot Metal Carrier, was conducting autonomous operations and one of the localisation systems was deliberately made to fail.
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|Item Type:||Conference Paper|
|Keywords:||ICT Centre, Robust localisation systems, Navigation, Camera vision system, Autonomous vehicles|
|Divisions:||Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
|Copyright Owner:||Copyright 2008 [please consult the authors]|
|Deposited On:||04 Mar 2015 23:53|
|Last Modified:||11 Mar 2015 03:18|
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