Title :
An experiment in autonomous navigation of an underground mining vehicle
Author :
Scheding, Steven ; Dissanayake, Gamini ; Nebot, Eduardo Mario ; Durrant-Whyte, Hugh
Author_Institution :
Nat. Robotics Eng. Consortium, Pittsburgh, PA, USA
fDate :
2/1/1999 12:00:00 AM
Abstract :
Describes the theoretical development and experimental evaluation of a navigation system for an autonomous load, haul, and dump truck based on the results obtained during extensive in-situ field trials. The particular contributions of the theoretical work are in designing the navigation system to be able to cope with vehicle slip in rough uneven terrain using information from inertial sensors, odometry, and a bearing only laser. Results are presented using data obtained during the field trials
Keywords :
Kalman filters; inertial navigation; laser ranging; mining; mobile robots; path planning; robot kinematics; sensors; autonomous navigation; bearing only laser; field trials; inertial sensors; navigation system; odometry; rough uneven terrain; underground mining vehicle; vehicle slip; Automation; Mobile robots; Navigation; Optical filters; Optical sensors; Product safety; Productivity; Remotely operated vehicles; Sensor systems; Vehicle safety;
Journal_Title :
Robotics and Automation, IEEE Transactions on
