Title :
Experiments in autonomous underground guidance
Author :
Scheding, S. ; Nebot, E.M. ; Stevens, M. ; Durrant-Whyte, H. ; Roberts, J. ; Corke, P. ; Cunningham, Joseph J. ; Cook, Byron
Author_Institution :
Dept. of Mech. Eng., Sydney Univ., NSW, Australia
Abstract :
This paper presents the results of an experimental program for evaluating sensors and sensing technologies in an underground mining applications. The objective of the experiments is to infer what combinations of sensors will provide reliable navigation systems for autonomous vehicles operating in a harsh underground environment. Results from a wide range of sensors are presented and analysed. A conclusion as to the best combination of sensors is drawn
Keywords :
accelerometers; computer vision; gyroscopes; inertial navigation; laser beam applications; mining; sensor fusion; ultrasonic transducers; vehicles; accelerometers; autonomous guidance; dead reckoning sensors; encoders; gyroscopes; laser scanner; sensing technology; sensor fusion; strap down inertial navigation system; ultrasonic sensors; underground mining vehicle; video camera; Automation; Costs; Dead reckoning; Electronic mail; Instruction sets; Navigation; Productivity; Robustness; Sensor systems; Vehicles;
Conference_Titel :
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3612-7
DOI :
10.1109/ROBOT.1997.619065
