Obstacle detection for a mining vehicle using a 2D laser
Roberts, Jonathan & Corke, Peter (2000) Obstacle detection for a mining vehicle using a 2D laser. In Jarvis, Ray & Kleeman, Lindsay (Eds.) Proceedings of the Australian Conference on Robotics and Automation (ACRA 2000), Australian Robotics & Automation Association, Melbourne, Australia, pp. 185-190.
This paper discusses a number of key issues for the development of robust obstacle detection systems for autonomous mining vehicles. Strategies for obstacle detection are described and an overview of the state-of-the-art in obstacle detection for outdoor autonomous vehicles using lasers is presented, with their applicability to the mining environment noted. The development of an obstacle detection system for a mining vehicle is then detailed. This system uses a 2D laser scanner as the prime sensor and combines dead-reckoning data with laser data to create local terrain maps. The slope of the terrain maps is then used to detect potential obstacles.
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|Item Type:||Conference Paper|
|Keywords:||Autonomous mining vehicles, Obstacle detection, 2D laser|
|Divisions:||Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
|Copyright Owner:||Copyright 2000 ARAA|
|Deposited On:||14 Apr 2015 01:44|
|Last Modified:||14 Apr 2015 01:44|
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