Automation of underground LHD and truck haulage

Roberts, Jonathan M., Corke, Peter I., Cunningham, J., & Durrant-Whyte, H. (1998) Automation of underground LHD and truck haulage. In Proceedings of the 1998 AusIMM Annual Conference - The Mining Cycle, AusIMM Press, Mount Isa, Queensland, Australia, pp. 241-246.

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This paper reviews the state-of-the-art in the automation of underground mining vehicles and reports on the development of an autonomous navigation system under development through the CMTE with sponsorship arranged by AMIRA. Past attempts at automating LHDs and haul trucks are described and their particular strengths and weaknesses are discussed. The auto-guidance system being developed overcomes some of the limitations of state-of-the-art prototype æcommercialÆ systems. It can be retrofitted to existing remote controlled vehicles, uses minimum installed infrastructure and is flexible enough for rapid relocation to alternate routes. The navigation techniques use data fusion of two separate sets of sensors combining natural feature recognition, nodal maps and inertial navigation techniques. Collision detection is incorporated and people and other traffic are excluded from the tramming area. This paper describes the work being done by the group with regard to auto-tramming and also outlines the future goals.

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ID Code: 83448
Item Type: Conference Paper
Refereed: Yes
ISBN: 9781875776566
Divisions: Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
Copyright Owner: Copyright 1998 [please consult the authors]
Deposited On: 14 Apr 2015 02:48
Last Modified: 14 Apr 2015 02:48

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