کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
312553 534226 2012 7 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Automatic guidance of underground mining vehicles using laser sensors
موضوعات مرتبط
مهندسی و علوم پایه علوم زمین و سیارات مهندسی ژئوتکنیک و زمین شناسی مهندسی
پیش نمایش صفحه اول مقاله
Automatic guidance of underground mining vehicles using laser sensors
چکیده انگلیسی

Autonomous guided vehicles are becoming extremely important in the mining industry. The underground environment is unique and complex in that the lighting conditions are poor, the roads are difficult to traverse, and no GPS can accurately receive signals in these areas. This paper analyzes the characteristics of commonly used positioning methods given that ordinary positioning and navigation methods do not work effectively underground. We outline the composition and principles in underground guidance of autonomous vehicles using the laser-based positioning system. This system is unique in that it draws on the premise of barcode theory, which allows for a feasible relative navigation system even without a GPS. Algorithms were developed to provide real-time control for an autonomous guided scraper. In the vehicle experiment, the scraper was able to autonomously move along the simulated laneway, and the trial average range longitudinal error was only 15 cm in a 40-m distance. Hence, this new type of positioning and navigation system can accurately and reliably guide vehicles.


► Analysis the advantages and disadvantages of commonly used navigation methods for scraper underground.
► Research the laser-based positioning and navigation system for scraper underground.
► Design the bar-code type landmarks use in tunnel underground.
► The corresponding positioning algorithm and landmark recognition algorithm was developed.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Tunnelling and Underground Space Technology - Volume 27, Issue 1, January 2012, Pages 142–148
نویسندگان
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