Experiments in autonomous underground guidance

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.

[1]  J.P.H. Steele,et al.  Control and scale model simulation of sensor-guided LHD mining machines , 1991, Conference Record of the 1991 IEEE Industry Applications Society Annual Meeting.

[2]  Hannu Lehtinen,et al.  Navigation system for LHD machines , 1995 .

[3]  Eric Krotkov,et al.  Dead reckoning for a lunar rover on uneven terrain , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[4]  Hugh F. Durrant-Whyte,et al.  Slip modelling and aided inertial navigation of an LHD , 1997, Proceedings of International Conference on Robotics and Automation.