Slip modelling and aided inertial navigation of an LHD

This paper describes the theoretical development and experimental evaluation of a guidance system for an autonomous load, haul and dump truck (LHD) for use in underground mining. The particular contributions of this paper are in designing the navigation system to be able to cope with vehicle slip in rough uneven terrain using information from an inertial navigation system (INS) and a bearing only laser. Results are presented using data obtained during field trials.

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