MODE-BASED NAVIGATION FOR AUTONOMOUS MINE VEHICLES

被引：1

作者：

BANTA, LE

NUTTER, RS

XIA, YP

机构：

[1] College of Engineering, West Virginia University, Morgantown, WV

来源：

IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS | 1992年 / 28卷 / 01期

关键词：

D O I：

10.1109/28.120228

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

This paper describes research at West Virginia University that develops an autonomous mobile robot for use in underground mines. The navigation scheme combines elements of both hierarchical control and reactive or subsumptive-type control. The robot navigates by sensing the environment and selecting a navigational "mode" that is appropriate to the circumstances and to the robot's mission. Examples of navigational modes are wall following, collision avoidance, and homing. The modes are implemented in modules formed by combinations of neural network processors and conventional control algorithms. This paper describes the overall control system architecture and the navigational strategies of the experimental robot vehicle.

引用

页码：181 / 185

页数：5