An experiment in autonomous navigation of an underground mining vehicle

被引：104

作者：

Scheding, S ^{[1
]}

Dissanayake, G

Nebot, EM

Durrant-Whyte, H

机构：

[1] Natl Robot Engn Consortium, Pittsburgh, PA 15201 USA

[2] Univ Sydney, Sydney, NSW 2006, Australia

来源：

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 1999年 / 15卷 / 01期

关键词：

automation; inertial aiding; Kal-man filter; LHD; mining;

D O I：

10.1109/70.744605

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper describes the theoretical development and experimental evaluation of a navigation system for an autonomous load, haul, and dump truck (LHD) 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.

引用

页码：85 / 95

页数：11

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