Autonomous underground tramming for center-articulated vehicles

This paper describes the design, implementation, and field testing of an infrastructureless system for autonomous tramming (or hauling) of a center‐articulated underground mining vehicle. Such vehicles are ubiquitous in underground mining, and effective automation of their tramming function has been...

Full description

Saved in:
Bibliographic Details
Published in:Journal of field robotics 2008-06, Vol.25 (6-7), p.400-421
Main Authors: Marshall, Joshua, Barfoot, Timothy, Larsson, Johan
Format: Article
Language:English
Subjects:
Computer science
Datavetenskap
Information technology
Informationsteknik
TECHNOLOGY
TEKNIKVETENSKAP
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:This paper describes the design, implementation, and field testing of an infrastructureless system for autonomous tramming (or hauling) of a center‐articulated underground mining vehicle. Such vehicles are ubiquitous in underground mining, and effective automation of their tramming function has been a sought‐after technology for more than a decade. This paper reports on the successful development of a fast, reliable, and robust “autotramming” technology that does not require the installation of fixed infrastructure. Included are descriptions of the chosen control architecture, map‐based localization technique, and the results of integration and field testing. © 2008 Wiley Periodicals, Inc.
ISSN:1556-4959
1556-4967
DOI:10.1002/rob.20242