Automation of an underground mining vehicle using reactive navigation and opportunistic localization

This paper describes the implementation of an autonomous navigation system onto a 30 tonne Load-Haul-Dump truck. The control architecture is based on a robust reactive wall-following behaviour. To make it purposeful we provide driving hints derived from an approximate nodal-map. For most of the time, the vehicle is driven with weak localization (odometry). This need only be improved at intersections where decisions must be made-a technique we refer to as opportunistic localization. The truck has achieved full-speed autonomous operation at an artificial test mine, and subsequently, at a operational underground mine.

[1]  Jonathan M. Roberts,et al.  Wall Following with Constrained Active Contours , 2003, FSR.

[2]  Peter I. Corke,et al.  Experiments in autonomous underground guidance , 1997, Proceedings of International Conference on Robotics and Automation.

[3]  B. Achiriloaie,et al.  VI REFERENCES , 1961 .

[4]  Ronald C. Arkin,et al.  Towards the Unification of Navigational Planning and Reactive Control , 1989 .

[5]  Peter I. Corke,et al.  Reactive navigation and opportunistic localization for autonomous underground mining vehicles , 2002, Inf. Sci..

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

[7]  Peter I. Corke,et al.  Autonomous control of underground mining vehicles using reactive navigation , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[8]  D. G. Brophey,et al.  The Opti-Trak system, a system for automating today's LHDs and trucks , 1994 .