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- Title
Autonomous underground tramming for center-articulated vehicles.
- Authors
Marshall, Joshua; Barfoot, Timothy; Larsson, Johan
- Abstract
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.
- Subjects
ROBOTICS research; REMOTELY piloted vehicles; MINING machinery; UNDERGROUND construction equipment; MOBILE robots; MINING engineering; LOCALIZATION theory; CONTROL theory (Engineering); ALGORITHMS
- Publication
Journal of Field Robotics, 2008, Vol 25, Issue 6/7, p400
- ISSN
1556-4959
- Publication type
Article
- DOI
10.1002/rob.20242