Issues in autonomous navigation of underground vehicles

Madhavan, R., Dissanayake, G., Durrant-Whyte, H., Roberts, Jonathan, Corke, Peter, & Cunningham, J. (1999) Issues in autonomous navigation of underground vehicles. Mineral Resources Engineering, 8(3), pp. 313-324.

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This paper describes current research at the Australian Centre for Field Robotics (ACFR) in collaboration with the Commonwealth Scientific and Industrial Research Organisation (CSIRO) within the Cooperative Research Centre (CRC) for Mining Technology and Equipment (CMTE) towards achieving autonomous navigation of underground vehicles, like a Load-Haul-Dump (LHD) truck. This work is being sponsored by the mining industry through the Australian Mineral Industries Research Association Limited (AMIRA). Robust and reliable autonomous navigation can only be realised by achieving high level tasks such as path-planning and obstacle avoidance. This requires determining the pose (position and orientation) of the vehicle at all times. A minimal infrastructure localisation algorithm that has been developed for this purpose is outlined and the corresponding results are presented. Further research issues that are under investigation are also outlined briefly.

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ID Code: 83293
Item Type: Journal Article
Refereed: Yes
Keywords: Autonomous navigation, Underground vehicles, Load-Haul-Dump truck, Path-planning, Obstacle avoidance
DOI: 10.1142/S095060989900030X
ISSN: 0950-6098
Divisions: Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
Deposited On: 13 Apr 2015 23:23
Last Modified: 13 Apr 2015 23:23

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