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

  title={Automation of an underground mining vehicle using reactive navigation and opportunistic localization},
  author={Elliot S. Duff and Jonathan M. Roberts and Peter Corke},
  journal={Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)},
  pages={3775-3780 vol.3}
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… 

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