Navigation algorithm based on teaching-playback system for unmanned dumptrucks in mines

Author

Murayama, Osamu ; Oshima, Hiroshi ; Nagai, Takao

Author_Institution

Komatsu Ltd., Kanagawa, Japan

fYear

1994

fDate

24-26 Oct. 1994

Firstpage

25

Lastpage

31

Abstract

A navigation system using a teaching playback algorithm for unmanned dumptrucks is developed to be adapted to frequent changes of layouts in mines. In this paper, several procedures composing the teaching-playback algorithm such as (1) initializing the position of the dumptruck and defining a coordinate system (initializing procedure), (2) teaching course data (teaching procedure), (3) obtaining the updated positions of the dumptruck for playback (playback procedure) and (4) an additional procedure to manage multiple courses (loop discrepancy measurement procedure) are described. Furthermore, the merits and demerits of the teaching-playback algorithm are discussed.

Keywords

computerised navigation; materials handling; mineral processing industry; mining; mobile robots; course data teaching; loop discrepancy measurement procedure; mines; navigation algorithm; position initialization; teaching-playback system; unmanned dumptrucks; Dead reckoning; Education; Fiber lasers; Laser beams; Navigation; Optical fibers; Target tracking; Vehicles; Velocity control; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Vehicles '94 Symposium, Proceedings of the

Print_ISBN

0-7803-2135-9

Type

conf

DOI

10.1109/IVS.1994.639464

Filename

639464