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.

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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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ID Code: 83385
Item Type: Conference Paper
Refereed: Yes
Additional URLs:
Keywords: Autonomous mining vehicles, Obstacle detection, 2D laser
ISBN: 0732621410
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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